Abstract
The quadrotor unmanned aerial vehicles (UAVs) have already gained enormous popularity, both for commercial and hobby applications. They are utilized for a wide range of practical tasks, including fire protection, search and rescue, border surveillance, etc. Therefore, there is an ever increasing need for better controllers and dynamics simulators. The conventional approach to modeling UAVs is to use rotational quaternions for attitude determination, together with position vector for tracking the UAV’s center of mass. The attitude is then usually updated by integrating linearized quaternion differential equations and subsequently enforcing unitary norm of the quaternion, through additional algebraic equation. The paper presents utilization of the recently introduced attitude and position update algorithms - based on Lie groups - for modeling UAV dynamics, which exhibit better computational characteristics.
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Terze, Z., Zlatar, D., Kasalo, M., Andrić, M. (2023). Lie Group Quaternion Attitude-Reconstruction of Quadrotor UAV. In: Nielsen, F., Barbaresco, F. (eds) Geometric Science of Information. GSI 2023. Lecture Notes in Computer Science, vol 14072. Springer, Cham. https://doi.org/10.1007/978-3-031-38299-4_1
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DOI: https://doi.org/10.1007/978-3-031-38299-4_1
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