In this paper we describe the compensation of magnetometers error which are result of high current flows in their vicinity. This kind of errors can be found in multirotor applications where measurement unit is located in the platform center, while motors with propellers are mounted on a relatively short arms around the platform body. Varying current flows have an impact on magnetic field around the magnetometers what results in an apparent angular changes of the unmanned platform. In order to compensate this unwanted effect, we have builded nonlinear model relating motors control inputs with the magnetic field changes and employed it in a compensation scheme.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Compensation of magnetometers error based on nonlinear models for multimotor aerial robots applications


    Contributors:


    Publication date :

    2014-05-01


    Size :

    737208 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Dynamic problems in powerful multimotor drives

    Chudnovskii, V. Y. | British Library Online Contents | 2005


    Compartimento multimotor con arquitectura de cálculo redundante

    LE GONIDEC SERGE / REMY ANTOINE / COLAS STÉPHANE et al. | European Patent Office | 2022

    Free access

    HELICOPTER MULTIMOTOR POWER SYSTEM AND CORRESPONDING HELICOPTER

    MERCIER-CALVAIRAC FABIEN / HUMBERT SOPHIE / BEDDOK STEPHANE | European Patent Office | 2019

    Free access

    A Review on Multimotor Synchronous Control Methods

    Niu, Feng / Sun, Kejia / Huang, Shaopo et al. | IEEE | 2023