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Focusing on improving inertial measurement unit (IMU) performance, this thesis explores two primary methods for enhancing long-term stability and navigation accuracy. The first method analyzes accelerometer outputs to ascertain roll and pitch angles when the quadrotor is stationary or moving steadily. It also integrates angular accelerations and rates to establish heading. The second method involves modeling the quadrotor and employing Kalman Filters with IMU data to optimize the navigation solution, ultimately aiming for superior performance in quadrotor navigation.
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Long Term Quadrotor Stabilization, Nicolas Hamilton
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- 2012
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