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QUB-ASL / bzzz

Quadcopter with ESP32 and RaspberryPi
MIT License
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Batch estimation of climbing dynamics #76

Closed patchedByBatman closed 1 year ago

patchedByBatman commented 1 year ago

Main Changes

This is an attempt to simulate the discrete-time altitude dynamics of a quadcopter. This also attempts to estimate the values of alpha and beta using synthetic data produced through the simulations. This estimation is for testing purposes only. Real altitude data will be collected to replace the synthetic data and true values of alpha and beta will be calculated.

Tests

The estimated values are 

alpha hat = 0.994749 
c hat = -9.449992

which are close to the original values 

alpha = 1 
c = -9.81

The simulation results are plotted and shown below. least_sqs_altitude_params_estimation

alphaville commented 1 year ago

@gunturiCM What is the status of this PR?

patchedByBatman commented 1 year ago

Finished the project in #107. Closing this PR since it is not needed anymore.