Problem 1: In a quadrotor drone’s fixed-body reference frame, its magnetometer readout is (20 ⃗x
, 20 ⃗y , -40 ⃗z ) mT and its accelerometer readout is (0.2 ⃗x , -0.3 ⃗y , -0.932 ⃗z ) G,
1) Please calculate the attitude of the drone.
2) If there is an error from a hard iron source of (-5 ⃗x , -5 ⃗y , 0 ⃗z ) mT in the above readout,
what is the error in the attitude measurement?
3) After removing the error produced from item 2), we introduce (0.05 ⃗x , -0.1 ⃗y , 0.1 ⃗z )G
linear acceleration by controlling the drone’s rotors, how much error will it cause in the
attitude measurement if we don’t do any correction?
Problem 2, the attached file is the datasheet for a 3-axis gyroscope, please find below data:
1, What is the largest dynamic range?
2, What is the finest resolution?
3, When we set the FS as ±500dps, ADC is 16 bits, what is the digital output if the ground truth
rate is 236.7282dps?
4, What is the nonlinearity of the device? How much error could it produce?
Problem 3, A quadrotor has a maximum thrust of 12N and a mass of 0.8kg,
1, While keeping the roll, pitch and yaw all 0 degree, if the drone starts from the altitude of 60m
with a velocity of 0m/s and stop at the altitude of 100m with a velocity of 0m/s, if in an ideal
case without any error, what is the shortest time?
2, While keeping the roll, pitch and yaw all 0 degree, if the drone starts from the altitude of 60m
with a velocity of 0m/s and stops at the altitude of 20 m with a velocity of 0m/s, if in an ideal
case without any error, what is the shortest time?
3, If ignoring the transient states, while keeping the altitude, what is the shortest time for a drone
to stop from a horizonal velocity of 8m/s?
