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Attitude Estimation

What is an IMU? and Complementary Filter

  

This article talks about how an IMU works and how it can be used to obtain attitude using complementary filter.

Mahony Filter

This article discusses how one can obtain attitude using the Mahony filter.

Madgwick Filter

  

This article discusses how one can obtain attitude using the Madgwick filter.

Kalman Filter

  

This article discusses how one can obtain attitude using a linear Kalman filter.


ENAE788M: Hands-On Autonomous Aerial Robotics

Complementary and Magdwick Filters

  

This class talks about how an IMU works and how it can be used to obtain attitude using complementary and Madgwick filters.

Bayes' and Kalman Filters

  

This class talks how an IMU can be used to obtain attitude using a Kalman filter.

DIY Research Quadrotor

  

This class discusses how to hack a Parrot Bebop 2 and how to build your own research quadrotor.

Extended and Unscented Kalman Filters

  

This class talks about the basics of extended and unscented Kalman filters.


CMSC828T: Vision, Planning and Control in Aerial Robotics

Transformations and Rotations

  

This class talks about Rigid Body Transformations and Rotation Matrices.

Velocities

  

This class talks about velocities and manifolds.

Quadrotor Dynamics

  

This class discusses the mathematical derivation of quadrotor dynamics.

Quadrotor Controls

  

This class talks about how to control a quadrotor using a cascaded PID controller.

Quadrotor Controls

  

This class talks about how the trajectory planner for a quadrotor works including derivation from Euler Lagrange equations.

SLAM Using Factor Graphs

  

This class talks about how one can model the simultaneous localization and mapping problem.