Motion Track Extraction Based on Empirical Mode Decomposition of Endpoint Effect Suppression for Double-Rotor Drone

Ziji MA  Kehuang XU  Binghang ZHOU  Jiawei ZHANG  Xun SHAO  

Publication
IEICE TRANSACTIONS on Communications   Vol.E102-B   No.10   pp.1967-1974
Publication Date: 2019/10/01
Online ISSN: 1745-1345
DOI: 10.1587/transcom.2018DRP0029
Type of Manuscript: Special Section PAPER (Special Section on Exploring Drone for Mobile Sensing, Coverage and Communications: Theory and Applications)
Category: 
Keyword: 
Double-rotor drone,  Motion track,  EMD,  Endpoint effect,  

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Summary: 
Double-rotor drone shows totally different flight performance. Extracting and analyzing its motion track is very helpful to improve its control approaches to achieve a robust and flight attitude. A novel EMD of endpoint effect suppression is proposed in this paper to accurately extract the DR drone's motion track. The proposed algorithm can effectively suppress the endpoint effect with a complex matching of both position and slope of the record of flight data from sensors. The computer simulation and experiment results both have demonstrated the proposed method's effectiveness and the feasibility of the designed DR drone.