O'Reilly logo

Indoor Navigation Strategies for Aerial Autonomous Systems by Pedro Garcia Gil, Laura Elena Munoz Hernandez, Pedro Castillo-Garcia

Stay ahead with the world's most comprehensive technology and business learning platform.

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, tutorials, and more.

Start Free Trial

No credit card required

Chapter 2

Modeling Approaches*

Abstract

Three methodologies to represent the dynamic of an aerial vehicle are presented. We mainly focus on the mathematical equations of a quadcopter. They include the classical Euler–Lagrange formalism and the Newton–Euler approach. The Euler–Lagrange methodology is essentially used for the ideal case, i.e., without perturbations and uncertainties in the model. In the Newton–Euler approach the aerodynamics and flapping effects are considered. The third methodology, the quaternions, is introduced as a new solution to solve the singularity problem that could appear in the other formalisms. In addition, aggressive maneuvers such as looping could be also studied with this technique.

Keywords

Euler–Lagrange ...

With Safari, you learn the way you learn best. Get unlimited access to videos, live online training, learning paths, books, interactive tutorials, and more.

Start Free Trial

No credit card required