The main target of this diploma project is to develop an attitude estimation system, which allows the drone to perform high-level tasks, such as ”take off” or ”move forward” independently. This project is a convenient ground for further research in the field of the UAV autonomy.
Within the framework of this project the inertial navigation system was developed, what allows drone to operate in known environment, estimating the pose with respect to the initial position. Data processing algorithms are analyzed, to provide high accuracy of the measurements. Extended Kalman filter serves as a local observer, that canceling noise and random values and applied to the output of each sensor and the complimentary filter fuses data from different sources to minimize drift in time.
As a supporting documentation, that illustrates the developed algorithms, structural, functional and electrical schematic diagram were created.
Research advisor: O. Muraviev
