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Enhancing the Accuracy of Euler Angles and Altitude Estimation in a Quad-Wing Flapping Micro Aerial Vehicle Using Model-Aided Integrated Navigation

Yousefi, Fatemeh | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 58474 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Pourtakdoost, Hossein; Sharifi, Alireza
  7. Abstract:
  8. In insect-like flapping-wing micro aerial vehicles, the high wingbeat frequency induces severe disturbances and leads to degradation in accelerometer measurements. As a result, without proper compensation, the estimation of roll and pitch angles during flight becomes unreliable. Moreover, pressure variations caused by flapping wings affect the accuracy of the barometer in altitude estimation, while magnetometer readings are disturbed due to the motion of the wing’s servomotors. To address these navigation challenges and enhance the accuracy of state estimation, this study employs a model-aided integrated navigation approach. Low-cost onboard sensors, including an Inertial Measurement Unit (accelerometers and gyroscopes), a magnetometer, and a barometer, are combined with a lumped-mass dynamic model of the vehicle—classified as dead-reckoning—through an Extended Kalman Filter (EKF). This integration reduces state errors arising from dead-reckoning, while simultaneously mitigating model inaccuracies and sensor errors by jointly estimating vehicle parameters and sensor biases. Disturbances caused by flapping are modeled as white or colored noise. For this purpose, the kinematic and kinetic models of a quad-wing flapping MAV are first derived based on Newton–Euler formulations and validated through simulations using wingbeat frequency commands from the control module. Finally, simulation outputs are fused with accelerometer, magnetometer, and barometer measurements to obtain accurate estimates of Euler angles, altitude, and vehicle parameters
  9. Keywords:
  10. Flapping Wing ; Extended Kalman Filter ; Model-aided Navigation ; Inertial Navigation System ; Lnsect-Like Flapping Wing ; Euler Angle

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