• Experimental characterisation of quad rotor controller based on Kalman Filter

      Fareha, Abdelkader; Bousbaine, Dr. Amar; Josaph, Ajay K; Amar, Bousbaine; University of Derby (IEEE, 2018-12-13)
      This paper presents experimental techniques to extract the calibration parameters needed for the control algorithm (electrical and aerodynamic constants) and Kalman filter (R and Q covariance matrices for noise measurement and process). The validation of the extracted parameters on the developed Matlab/Simulink models for the quadrotor are investigated before the final implementation of the real navigation algorithm system on quadcopter.