earticle

영어

In the field of autonomous navigation control of unmanned vehicles, it is most essential to estimate the location of the controlled vehicle. In this paper, a method for estimating the location of a quadcopter is proposed to autonomously control the flight of an unmanned quadcopter. The algorithm for estimating the location of a quadcopter is proposed by applying the EKF-SLAM, and the algorithm is simulated for the system to estimate and control the flight trajectories of the quadcopter. Prior to simulation, a dynamic model for the quadcopter is introduced, and simulations are carried out to determine the manner in which the quadcopter changes with respect to the thrust. Moreover, the leveling control and posture control are simulated through a PD controller, and the flight trajectories of the quadcopter are analyzed through the posture control. Furthermore, a virtual landmark is established for applying the EKF-SLAM based on a fabricated quadcopter simulator. Moreover, an observation model for observing the landmark is proposed for estimating the flight trajectories of the quadcopter, along with a state equation and a Jacobian matrix. Finally, potential advancement in the simultaneous location estimation and mapping technology of the quadcopter is presented by simulating the quadcopter EKF-SLAM and validating its performance.