{"id":"https://openalex.org/W2529041155","doi":"https://doi.org/10.1109/cca.2016.7587914","title":"System identification of a quadcopter's rotational dynamics using android flight data","display_name":"System identification of a quadcopter's rotational dynamics using android flight data","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2529041155","doi":"https://doi.org/10.1109/cca.2016.7587914","mag":"2529041155"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2016.7587914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587914","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086089893","display_name":"Mohammad A. Alsharif","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mohammad A. Alsharif","raw_affiliation_strings":["Deparment of Mathematics and Compter Science, University of Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"Deparment of Mathematics and Compter Science, University of Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002959264","display_name":"Matthew S. H\u00f6lzel","orcid":"https://orcid.org/0000-0002-6200-4600"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthew S. Holzel","raw_affiliation_strings":["Deparment of Mathematics and Compter Science, University of Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"Deparment of Mathematics and Compter Science, University of Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5086089893"],"corresponding_institution_ids":["https://openalex.org/I180437899"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05414488,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"786","last_page":"791"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadcopter","display_name":"Quadcopter","score":0.817726731300354},{"id":"https://openalex.org/keywords/android","display_name":"Android (operating system)","score":0.8151875138282776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.716490626335144},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5896215438842773},{"id":"https://openalex.org/keywords/phone","display_name":"Phone","score":0.45701271295547485},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.441580593585968},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.41321006417274475},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36213499307632446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32286345958709717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19447922706604004},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.17617663741111755}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.817726731300354},{"id":"https://openalex.org/C557433098","wikidata":"https://www.wikidata.org/wiki/Q94","display_name":"Android (operating system)","level":2,"score":0.8151875138282776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.716490626335144},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5896215438842773},{"id":"https://openalex.org/C2778707766","wikidata":"https://www.wikidata.org/wiki/Q202064","display_name":"Phone","level":2,"score":0.45701271295547485},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.441580593585968},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.41321006417274475},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36213499307632446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32286345958709717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19447922706604004},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.17617663741111755},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2016.7587914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2016.7587914","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE Conference on Control Applications (CCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W204815387","https://openalex.org/W1608271583","https://openalex.org/W2003272792","https://openalex.org/W2026836521","https://openalex.org/W2067532355","https://openalex.org/W2109656638","https://openalex.org/W2462836397","https://openalex.org/W3210839039","https://openalex.org/W4240790602","https://openalex.org/W6667417505","https://openalex.org/W6718609889"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2526240748","https://openalex.org/W2966028239","https://openalex.org/W2264340699","https://openalex.org/W2909947097","https://openalex.org/W4232231392","https://openalex.org/W1973973903","https://openalex.org/W2992410632","https://openalex.org/W2025756212"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,96,108,126],"study":[4],"the":[5,14,32,38,50,55,73,89,104,119,130],"process":[6],"of":[7,17,54,118,129],"identifying":[8],"a":[9,18,25,137],"continuous-time":[10],"nonlinear":[11],"model":[12],"for":[13,92,113],"rotational":[15],"dynamics":[16],"DJI":[19],"F450":[20],"quadcopter":[21],"being":[22,47],"commanded":[23],"by":[24,62],"non-rooted":[26],"onboard":[27],"Android":[28,39,75],"smart":[29],"phone,":[30],"where":[31],"control":[33],"commands":[34],"are":[35,67,84,100],"sent":[36,48],"from":[37],"phone":[40],"to":[41,49,69,87,103,133],"an":[42,115],"IMU-less":[43],"IOIO":[44],"board":[45],"before":[46],"electronic":[51],"speed":[52],"controllers":[53],"motors.":[56],"We":[57],"use":[58],"only":[59],"measurements":[60],"provided":[61],"Android's":[63],"Java":[64],"API,":[65],"which":[66],"subject":[68],"significant":[70],"latencies":[71],"since":[72],"default":[74],"implementation":[76],"is":[77],"not":[78],"realtime.":[79],"While":[80],"prediction":[81],"error":[82],"methods":[83,91],"typically":[85],"considered":[86],"be":[88],"best":[90],"estimating":[93],"such":[94],"models,":[95],"show":[97],"that":[98],"they":[99],"highly":[101],"sensitive":[102],"initial":[105,116],"guess.":[106],"Hence":[107],"introduce":[109],"two":[110],"novel":[111],"algorithms":[112],"obtaining":[114],"guess":[117],"inertia":[120,139],"matrix":[121],"using":[122,136],"convex":[123],"optimization.":[124],"Finally,":[125],"compare":[127],"all":[128],"relevant":[131],"estimates":[132],"those":[134],"obtained":[135],"traditional":[138],"measurement":[140],"device.":[141]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}