Why are roll rate measurements used as control input (U

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Why are roll rate measurements used as control input (U_k) in a quadcopter Kalman filter?

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Hi, I'm currently designing a quadcopter flight controller and have been looking at the estimation side of things recently.

For a drone using an IMU (ignore magnetometer for the moment), all the material I've read online shows people use the gyroscope roll rate measurements as a control input rather than as a measurement. Only the accelerometer is used for the measurement term.

I can't find any explanation why this is the case though. What is the reason for choosing gyro measurements as a control input? I guess this leads into the bugger question of when to use control input matrix as opposed to measurement matrix.

Thanks

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boratlike1

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Posted: 5 months ago
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