Synthesis of an adaptive algorithm for estimating the angular orientation of moving objects based on quasi-optimal motion models taking into account autopilot commands

Le résumé fourni par la source

The work is devoted to the topical issue of improving the accuracy of determining the angular orientation of autonomous aerial vehicles using a dynamic motion model by utilizing a priori information about control signals generated by the onboard autopilot in external stimuli mode. The developed algorithm is based on a second-order quasi-optimal motion model obtained taking into account dynamic constraints and rational assumptions. To analyze the effectiveness of the obtained algorithm, numerical simulation of the attitude estimation process for a multirotor unmanned aerial vehicle was carried out. The obtained results demonstrate an increase in the accuracy of estimating the angular orientation of an unmanned aerial vehicle by an average of 7–15 % compared to a similar algorithm without taking into account the autopilot commands.

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