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Inertial Navigation for Quadrotor Using Kalman Filter with Drift Compensation

International Journal of Electrical and Computer Engineering (IJECE) · Vol. 7 No. 5 (2017)

DOI
10.11591/ijece.v7i5.pp2596-2604
ISSN
2088-8708, 2088-8708
Published
2017-10-01
Publisher
Institute of Advanced Engineering and Science
License
creativecommons.org/licenses/by-nc/4.0

Abstract

The main disadvantage of an Inertial Navigation System is a low accuracy due to noise, bias, and drift error in the inertial sensor. This research aims to develop the accelerometer and gyroscope sensor for quadrotor navigation system, bias compensation, and Zero Velocity Compensation (ZVC). Kalman Filter is designed to reduce the noise on the sensor while bias compensation and ZVC are designed to eliminate the bias and drift error in the sensor data. Test results showed the Kalman Filter design is acceptable to reduce the noise in the sensor data. Moreover, the bias compensation and ZVC can reduce the drift error due to integration process as well as improve the position estimation accuracy of the quadrotor. At the time of testing, the system provided the accuracy above 90 % when it tested indoor.

Collaboration network of the authors

31 authors · 77 co-authorship links · 6 across different organisations

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

  • Universitas Gadjah Mada
  • Telkom University
  • Muhammadiyah University of Yogyakarta
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-authorOrganisationJoint articles
Oyas WahyunggoroUniversitas Gadjah Mada9
Iswanto IswantoMuhammadiyah University of Yogyakarta4
I Wayan MustikaUniversitas Gadjah Mada3
Freddy KurniawanAffiliation unknown2
Bambang SudibyaAffiliation unknown2
Hari MaghfirohAffiliation unknown2
Kuo Lung LianAffiliation unknown2
Bwo Ren KeAffiliation unknown2
Mohammad Yanuar HariyawanAffiliation unknown2
Eka FirmansyahUniversitas Gadjah Mada2
Anggun Fitrian IsnawatiUniversitas Gadjah Mada2
Selo SulistyoUniversitas Gadjah Mada2
Teguh Bharata AdjiUniversitas Gadjah Mada2
Hendri Himawan TriharmintoUniversitas Gadjah Mada2
Igi ArdiyantoUniversitas Gadjah Mada2
Okto DinaryantoAffiliation unknown1
Muhammad Ridlo Erdata NasutionAffiliation unknown1
Budi SetiyantoUniversitas Gadjah Mada1
Sunarno SunarnoUniversitas Gadjah Mada1
Almido Haryanto GintingUniversitas Gadjah Mada1
Achmad RizalTelkom University1
Hanung Adi NugrohoUniversitas Gadjah Mada1
Willy Anugrah CahyadiTelkom University1
Denny DermawanAffiliation unknown1
Yenni AstutiAffiliation unknown1
Paulus SetiawanAffiliation unknown1
Uyuunul MauidzohAffiliation unknown1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

This record comes from Crossref (what the publisher deposited), because the journal's own OAI-PMH endpoint could not be harvested.

Metadata source: Crossref API (cadangan, berdasarkan ISSN) https://api.crossref.org/journals/2088-8708/works, first harvested 27 Okt 2026, last seen 27 Okt 2026.
Metadata as oai_dc, converted from Crossref 
<oai_dc:dc xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/"><dc:title>Inertial Navigation for Quadrotor Using Kalman Filter with Drift Compensation</dc:title><dc:creator>Lasmadi, Lasmadi</dc:creator><dc:creator>Cahyadi, Adha Imam</dc:creator><dc:creator>Herdjunanto, Samiadji</dc:creator><dc:creator>Hidayat, Risanuri</dc:creator><dc:description>&lt;jats:p&gt;The main disadvantage of an Inertial Navigation System is a low accuracy due to noise, bias, and drift error in the inertial sensor. This research aims to develop the accelerometer and gyroscope sensor for quadrotor navigation system, bias compensation, and Zero Velocity Compensation (ZVC). Kalman Filter is designed to reduce the noise on the sensor while bias compensation and ZVC are designed to eliminate the bias and drift error in the sensor data. Test results showed the Kalman Filter design is acceptable to reduce the noise in the sensor data. Moreover, the bias compensation and ZVC can reduce the drift error due to integration process as well as improve the position estimation accuracy of the quadrotor. At the time of testing, the system provided the accuracy above 90 % when it tested indoor.&lt;/jats:p&gt;</dc:description><dc:publisher>Institute of Advanced Engineering and Science</dc:publisher><dc:date>2017-10-01</dc:date><dc:type>info:eu-repo/semantics/article</dc:type><dc:format>application/pdf</dc:format><dc:identifier>https://doi.org/10.11591/ijece.v7i5.pp2596-2604</dc:identifier><dc:identifier>10.11591/ijece.v7i5.pp2596-2604</dc:identifier><dc:source>International Journal of Electrical and Computer Engineering (IJECE); Vol 7 No 5 (2017); 2596</dc:source><dc:source>2088-8708</dc:source><dc:source>2088-8708</dc:source><dc:relation>http://ijece.iaescore.com/index.php/IJECE/article/viewFile/8213/6940</dc:relation><dc:rights>http://creativecommons.org/licenses/by-nc/4.0</dc:rights></oai_dc:dc>