Matthew Silic
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  • Gainesville, FL
  • United States
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Curt Olson commented on Matthew Silic's blog post Sensors for Attitude Estimation
"Matthew, if this is at all interesting to you I would offer to run one of your flight data sets through my hud rendering system to see what happens.  Essentially what I do is mount an action cam somewhere on the airplane with as much of a clear…"
Mar 24
robert bouwens commented on Matthew Silic's blog post Sensors for Attitude Estimation
"hmm, mostly i use uncalibrated mag data!the hmc5983 has a build in offset correction. as the hmc5983 is available in homeopathic dosis i will dig in the dpi method. i have used mahony in the past and try to avoid this kinda sensorfusion. the…"
Mar 24
Matthew Silic commented on Matthew Silic's blog post Sensors for Attitude Estimation
"Hey Curt, The YouTube video you posted looks amazing! I like how the flight trajectory stays up on the HUD. So you use temperature-dependent calibration coefficients? I've never tried to capture the temperature-dependence. I've always…"
Mar 23
robert bouwens commented on Matthew Silic's blog post Sensors for Attitude Estimation
"yes, it doesn't look bad. i have clue what would be good and in contrast bad. https://www.youtube.com/watch?v=XqQCbkncVYI i prefer simpler things. using a milled cube and turn it fast on a granite table. that's always interesting to watch…"
Mar 23
Curt Olson commented on Matthew Silic's blog post Sensors for Attitude Estimation
"The UMN 15-state EKF requires changes in velocity (from the perspective of the gps) in order to for the heading to converge without mags.  It really works well for fixed wing flight (higher dynamic motion.)  For quads that spend much of…"
Mar 23
robert bouwens commented on Matthew Silic's blog post Sensors for Attitude Estimation
"the 15 state ekf did cause some disappointing results in comparison with the px4 ekf. if it starts raining again i will redo some of my tests - hopefully with a double precision fpu. 6 axis sensor fusion is ok as the mag do tends to disappear."
Mar 23
Curt Olson commented on Matthew Silic's blog post Sensors for Attitude Estimation
"Hi Matthew, Nice explanation of the important issues with our UAV sensors. I work for Prof. Gebre (listed in your references) at the U of MN UAV lab.  For attitude determination we primarily fly a 15-state ekf he published a few years…"
Mar 23
robert bouwens commented on Matthew Silic's blog post Sensors for Attitude Estimation
"thanks for sharing! a lot to read ..."
Mar 23
Matthew Silic posted a blog post

Sensors for Attitude Estimation

Hello UAV enthusiasts,I recently created a slide deck on the topic of sensors for attitude estimation (i.e. gyroscopes, accelerometers and magnetometers). In these slides, I reviewInstallation considerations,Stochastic models,Bias characterization,Sensor calibration, andConceptual models.The methods and concepts contained in these slides have been "battle tested''. That is, these are the methods and concepts I used while developing a lightweight autopilot system for UAVs. I hope you find some…See More
Mar 22

Profile Information

About Me:
I am a graduate research student at the University of Florida. My research interests include autopilots, cooperative control, fixed-wing aircraft, and atmospheric sensing.
Please tell us a bit about your UAV interest
For the past four years, I have been developing the autopilot system used by my research group for atmospheric sensing and cooperative control.
Hometown:
Gainesville

Matthew Silic's Blog

Sensors for Attitude Estimation

Posted on March 22, 2019 at 5:57pm 8 Comments

Hello UAV enthusiasts,

I recently created a slide deck on the topic of sensors for attitude estimation (i.e. gyroscopes, accelerometers and magnetometers). In these slides, I review

  1. Installation considerations,
  2. Stochastic models,
  3. Bias characterization,
  4. Sensor calibration, and
  5. Conceptual models.

The methods and concepts contained in these slides have been "battle tested''. That is, these are the methods and concepts I used…

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