56 ARDRONE 639 oto@idissiaenssu : +7 (383) 333-6-5 : ARDrone Abstract In this paper we discuss a trajector tracing probem of quadrocopter where the trajector is defined as impicit function of coordinates For the estimation of state ector the contro sstem proposed in our preious wor is augmented b the equations based on etended Kaman fiter Simuation and eperimenta resuts with the ARDrone quadrocopter show the effectieness of the proposed contro sstem in a noise enironment - () 5 5 - [] [-4] - [5-8] [9 ] - ( - ) : [6] - [9] [7] [8] [ ] [] - ARDrone Parrot () [3] - ARM9 468 MH DDR 8 MB MH Linu OS
( - ) ARDrone PIC- 4 MH - : - - ARDrone : 64 48 5 / - - 6 / 55 55 4-5 5 / ARDrone b b b : b < < b / < < / b / < < / b b b [3]: m u () m u m u mg I u I I () I u3 I I I u4 : m g I I I - 57
[] - (3) c (4) + (3) (4) ( t) ( t) ( t) ( t) ( t) d S dt d (5) S dt S (6) S S S (3) (4) / / (6) d d d (7) S S S dt dt dt (7) S S S (7) d d d (8) S S S S S S dt dt dt (9) S S S S S S > > > S S S - (5) (9) A () B C 58
59 () ) ( ) ( ) ( ) ( S C S B S A () A B B A () () () (3) C g m u m u m u (3) - u (4) C g + + + m u (4) (3) (5) 3 C g N N g+c N N - b b b (6) 3 b (3) (7) + + (6)
+ (8) 3 + + 3 3 + + ARDrone - [3] - () [] u - u 4 : T (9) T T d d d T T T T d - (9) () - - (9) () [] 3 () (9) [5] () (9) () X f ( X U ) W Z h( X ) V W Q V R Z X () (9) T () X [ ] 5
() () ( Xˆ U ) [6] () X f ( Xˆ U ) F [ X Xˆ ] W ( ) Z h( Xˆ ) H [ X Xˆ ] V ( ) f h (3) F X Xˆ H X Xˆ X X (4) Xˆ f ( Xˆ U ) T (5) P F P F Q P H (6) K T H P H R (7) Xˆ Xˆ K ( Z h ( Xˆ )) (8) P ( I K H ) P T 4 4 X T (9) Z [ ] () u m [7] 7 6 ARDrone 5
5 35 ARDrone : (3) ( ) ( ) (3) 4 [3] X T d (9) () (9) 5 5 t θ θ 8 6 4 rea mode 8 6 4 rea mode 8 8 6 6 4 4 5 5 5 time 5 5 5 time a : rea mode (9): T d 35 t () T 7 d 35 t () 43 (9) ARDrone n n n (3) f ( ) ( ) ( ) r 5
n r 3 () (9) T d Y 4 35 cam mode 3 ef 5 5 5-5 - - -5 5 5 5 3 35 4 X a m 4 8 6 4 - -4-6 -8-3 4 5 6 7 8 9 time s Y 4 35 cam mode 3 ef 5 5 5-5 - - -5 5 5 5 3 35 4 X m 4 8 6 4 - -4-6 -8-3 4 5 6 7 8 9 time s 3 (3) 5 n r 3 ( ) 5 n r 3 ( ) ( ): cam mode ef ( ) - () ( ) ( ) 53
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