Adaptive algorithm of gyrovertical computing unit for unmanned aerial vehicle

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Authors: Kachanov B. O., Kulabuhov V. S., Tuktaryov N. A., Grishin D. V.

Annotation: A new algorithm for determining roll and pitch of the unmanned aerial vehicle (UAV) on joint measurement of gyroscopes and accelerometers is proposed. The novelty consists in the way of the pendulum correction. Its intensity adapts to deviations of apparent vertical from gravitational one considering assessment of velocity. The algorithm gets adjusted through the training sequences and provides robustness to gyroscopes drifts.

Keywords: gyroscope, accelerometer, gyroscopic vertical, pendulum correction, apparent vertical, robustness, algorithm