"@Ayush
In a GNC scheme (Guidance, Navigation and Control). The N(avigation) module feeds the G and the C.
It does not matter the supernice is your controller or guidance if your estimations are far from the actual values."
Héctor García de Marina's Page
Latest Activity
Héctor García de Marina commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6"By the way, will be the hardware schematics open source as well?"
Héctor García de Marina commented on Bill Nesbitt's blog post AutoQuad FC fw v6.6"Congratulations Bill,
I still hope to have free time for continuing developing this kind of stuff. UKF is a great estimator indeed, I will check out the code for seeing your implementation :P."
Don Kim left a comment for Héctor García de Marina"If you do not mind, can I ask you about the UKF by e-mail?"
Héctor García de Marina commented on Héctor García de Marina's blog post Yet another AHRS algorithm"sure, I will contact you by mail"
Prindi Wibowo commented on Héctor García de Marina's blog post Yet another AHRS algorithm"thank you for your respond. I'll review your paper on DCM_estimation. could I contact you directly to discuss about it by personal email?"
Héctor García de Marina commented on Héctor García de Marina's blog post Yet another AHRS algorithm"Hello Prindi,
about TRIAD, you can download the dcm_estimation.pdf. The implementation in Matlab is quite straightforward, you only have to type literally what is in the equations, there is not black magic.
Recently the Kalman Filter…"
Prindi Wibowo commented on Héctor García de Marina's blog post Yet another AHRS algorithm"thank you Hector for your reply...
I'm currently reading your paper on AHRS based on UKF and TRIAD. it's my first time reading on UKF and TRIAD subject, I have implemented obert Mayhony's DCM filter. And now I am struggling with…"
Héctor García de Marina commented on Héctor García de Marina's blog post Yet another AHRS algorithm"Hello Prindi, Unfortunately I do not have an English version of the thesis. Nevertheless you can download the paper…"
Prindi Wibowo commented on Héctor García de Marina's blog post Yet another AHRS algorithm"hello Hector...
Do you have ur Master Thesis in English version? I want it will be my main refrence to understand UKF.
thank you :D
"
Héctor García de Marina commented on Chris Anderson's blog post A quad with everything for less than $100"getting started with a frame that lasts only one crash? xD"
Héctor García de Marina commented on Max Levine's blog post The easiest way to mount APM2 on ArduCopter."@Max
All filters (transfer functions) introduces lag (phase delay), and in a closed loop, this lag can lead to instabilty of the closed loop system.
One thing is that the lag introduced don't lead to the instability, which as well depends on…"
Héctor García de Marina commented on Max Levine's blog post The easiest way to mount APM2 on ArduCopter."Jonathan,
3-5 times the amplitude mmmm, maybe you are measuring aliasing right? if you are sampling at 50Hz. I am interested in your experiments as I want to try more isolation techniques. Do you mind to share them? :P"
Héctor García de Marina commented on Justin's blog post Proof of concept cross-wind navigation (and low level) autopilot with vector field surface tracking"Hello Justin,
you are right, this is only a high level guidance algorithm. Actually, I wrote an algorithm based on TVFG (when I am inside the circumference, I put a "mirror" of the vehicle outside to compute the "tangent"…"
Héctor García de Marina commented on Justin's blog post Proof of concept cross-wind navigation (and low level) autopilot with vector field surface tracking"By the way, all the simulations are without perturbations. What would happen if the vehicle goes within the circunference?
I did a similar algorithm that resolves that case, actually the algorithm is very similar and I explained with simpler maths.…"
Héctor García de Marina commented on Justin's blog post Proof of concept cross-wind navigation (and low level) autopilot with vector field surface tracking"Hello Tero,
In many many research papers, I always wonder why they refer an UAV something that it is NOT clearly an air vehicle (check out the equation 2 u_U). For instance, they add wind but they do not care about the sideslip angle in the control.…"
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Héctor García de Marina's Blog
Yet another AHRS algorithm
Posted on July 14, 2011 at 11:00am 9 Comments 6 Likes
Although I have been here for years, this is my first blog post and I would like to present yet another attitude estimator which I have been working in my M.Sc. Thesis. A friend of mine and me have developed an autopilot, but this is for another post. However you can find details about it in the thesis at the end of the post. For…
ContinueComment Wall (3 comments)
- At 1:03am on November 23, 2011,
John Galczynski said… Hi,
I tried http://spacefishproject.com and it did not display nor ping but resolved to ip.
Cheers, JG
- At 8:24am on November 23, 2011, John Galczynski said…
Oh, spacefishproject.ch -- ahh, the extension changed. Looks great! Several years ago, I calc'd out electromagnetic propulsion to get around the planet at low earth orbit levels and high speeds. The point::travel fast, travel cheap without having to burn chemical fuel and return like a space shuttle.
- At 1:15pm on May 9, 2012, Don Kim said…
If you do not mind, can I ask you about the UKF by e-mail?
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