IMU-and exteroceptive sensor-based fusión for UAV control.
Date
2017
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE Xplore.
Abstract
A quadrotor is an unmanned aerial vehicle (UAV)
popular for its low-cost and broad range of applications, like in spection, surveillance, cinematographic filmation, among others.
Most of these applications are easily performed if the quadrotor
is able to flight autonomously, which can be achieved using a
feedback control loop. In order to be close the loop, the UAV state
has to be estimated using the information of the on-board sensors.
This work presents an IMU- and exteroceptive sensor- based
fusion approach for state estimation to be used in a quadrotor
control loop. The presented results are based on simulations using
a dynamic model of the quadrotor, in which the performed
estimation is used as feedback vector instead of the model true
output. These results show that the proposed estimation approach is
accurate enough to control the quadrotor and perform typical
paths, like a circle and a square path.
Description
Keywords
State estimation, UAV control, Sensor fusion
Citation
2017 XVII Workshop on Information Processing and Control (RPIC).
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Creative Commons license
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