Attitude and gyro bias estimation for a VTOL UAV

Metni, Najib; Pflimlin, Jean Michel; Hamel, Tarek; Souères, Philippe

doi:10.1016/j.conengprac.2006.02.015

Cited by 95 publications

(59 citation statements)

References 12 publications

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“…Due to this fact, an additional improvement of the used navigation solution may be obtained from sensors like a navigation camera in a visual SLAM approach similar to (Georgiev and Allen, 2004). A further aspect for enhancement would be an appropriate magnetometer calibration as described in (Gebre-Egziabher, 2007, Dorveaux et al, 2009, Metni et al, 2006 or improved protection against signal interfering radiation through EMI shields. Figure 6d discloses a major problem caused by direct dependencies of navigation solution, in this case the IMU angles.…”

Section: Resultsmentioning

confidence: 99%

Uav-Based Acquisition of 3d Point Cloud – A Comparison of a Low-Cost Laser Scanner and SFM-Tools

Mader

Blaskow

Westfeld

et al. 2015

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:The Project ADFEX (Adaptive Federative 3D Exploration of Multi Robot System) pursues the goal to develop a time-and cost-efficient system for exploration and monitoring task of unknown areas or buildings. A fleet of unmanned aerial vehicles equipped with appropriate sensors (laser scanner, RGB camera, near infrared camera, thermal camera) were designed and built. A typical operational scenario may include the exploration of the object or area of investigation by an UAV equipped with a laser scanning range finder to generate a rough point cloud in real time to provide an overview of the object on a ground station as well as an obstacle map. The data about the object enables the path planning for the robot fleet. Subsequently, the object will be captured by a RGB camera mounted on the second flying robot for the generation of a dense and accurate 3D point cloud by using of structure from motion techniques. In addition, the detailed image data serves as basis for a visual damage detection on the investigated building. This paper focuses on our experience with use of a low-cost light-weight Hokuyo laser scanner onboard an UAV. The hardware components for laser scanner based 3D point cloud acquisition are discussed, problems are demonstrated and analyzed, and a quantitative analysis of the accuracy potential is shown as well as in comparison with structure from motion-tools presented.

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Section: Resultsmentioning

confidence: 99%

Uav-Based Acquisition of 3d Point Cloud – A Comparison of a Low-Cost Laser Scanner and SFM-Tools

Mader

Blaskow

Westfeld

et al. 2015

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…In many cases extra sensors may facilitate the solution. For example, global positioning system (GPS) was used in [75]; magnetic field sensors were utilized in [143,68], additional bearing information was required in [11]; landmark measurements were used in [190], Earth horizon sensor was utilized in [83], active vision system was employed in [24]. Like robotic systems, living creatures solve the problem of estimation gravitational verticality using limited set of sensors.…”

Section: Verticality Estimation Methodsmentioning

confidence: 99%

Modeling Verticality Estimation During Locomotion

Farkhatdinov

Michalska

Berthoz

et al. 2013

Romansy 19 – Robot Design, Dynamics and Control

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In this thesis, a nonlinear model of the vestibular system is proposed, with special reference to humans and other locomoting animals. The vestibular system is essential for stable locomotion since it provides idiothetic measurements of spatial orientation that are needed for postural control. The model was constructed from general considerations regarding the Newton-Euler dynamics governing the three-dimensional movements of bodies constrained to oscillate in non-inertial frames, such as the otoliths, which were modeled as spherical damped pendula. Two configurations were considered. The medial model considered only one inner ear located in the center of a head. The lateral model considered two inner ears located laterally with respect to the center of rotation of the head. The differences between these two models were analyzed and the importance of having two vestibular organs discussed. To this end, a nonlinear algebraic observability test was used to verify whether the reconstruction of the head orientation with respect to the gravitational vertical was possible from otoliths measurements only. It could be shown that in order for the head vertical orientation to be observable, the head had to be stabilized during locomotion. Moreover, it was shown that the gravitoinertial ambiguity inherent to inertial idiothetic sensing could be resolved if the head was horizontally stabilized. These results were applied to solve the head vertical orientation estimation problem in the linearized case (Luenberger observer, Kalman filter) as well as in the nonlinear case (Extended Kalman filter, Newton method based observation). These observers were designed and tested in simulations. The simulations indicated that the estimation errors were smaller and the observers converged faster when head was stabilized during locomotion, leading to a nonlinear, combined observation-control system that could be stabilized with respect to the gravitational vertical based on no other information than the prior knowledge of the Newton-Euler dynamics. The results were further tested with a specifically designed experimental setup that comprised an actuated gimbal mechanism to represent the head-neck articulation and a liquid-based inclinometer that represented the otoliths organs. The findings derived from this research would be helpful for analyzing spatial perception in humans and animals, and for improving the perceptual capabilities of robotic systems, such as humanoid robots, rough terrain vehicles, or free-moving drones.Keywords: vestibular system, head-neck system, nonlinear system, observation, estimation, verticality, spatial perception, locomotion, humanoid robot. 3 RésuméDans cette thèse, nous proposons un modèle non-linéaire du système vestibulaire, en particulier chez l'humain et autres animaux mobiles. Le système vestibulaire est essentiel pour une locomotion stable dans la mesure où il fournit des mesures idiothétiques d'orientation spatiale nécessairesà la stabilité posturale. Le développement du modèle est basé sur l...

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“…They are in fact estimated and compensated thanks to the vision system as presented in Section 4. Under this assumption, various algorithms for attitude estimation can been considered: Kalman filter, extended Kalman filter (see Vissière [2008]) or complementary filter in both linear and nonlinear implementations (see Mahony et al [2005], Metni et al [2006], Jung and Tsiotras [2007], Mahony et al [2008], Martin and Salaün [2008]). …”

Section: Principlesmentioning

confidence: 99%

“…The analytical computations can be performed following the works on large-size helicopter rotors (Johnson [1980], Prouty [1990], Leishman [2002]), and models proposed specifically for quadrotors (Metni et al [2006], Pounds et al [2006], Romero et al [2007], Guénard [2007]), one can transpose the largesize rotors modeling techniques to small-size rotors, taking into account angular rates, which are negligible at larger scales. By contrast with Mettler [2003], , one should not neglect the forward flight speed (u, v).…”

Section: Velocity Estimation Thanks To Aerodynamics Modelmentioning

confidence: 99%

The Navigation and Control technology inside the AR.Drone micro UAV

Bristeau¹,

Callou

Vissière

et al. 2011

IFAC Proceedings Volumes

276

151

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This paper exposes the Navigation and Control technology embedded in a recently commercialized micro Unmanned Aerial Vehicle (UAV), the AR.Drone, which cost and performance are unprecedented among any commercial product for mass markets. The system relies on state-of-the-art indoor navigation systems combining low-cost inertial sensors, computer vision techniques, sonar, and accounting for aerodynamics models.

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Attitude and gyro bias estimation for a VTOL UAV

Cited by 95 publications

References 12 publications

Uav-Based Acquisition of 3d Point Cloud – A Comparison of a Low-Cost Laser Scanner and SFM-Tools

Uav-Based Acquisition of 3d Point Cloud – A Comparison of a Low-Cost Laser Scanner and SFM-Tools

Modeling Verticality Estimation During Locomotion

The Navigation and Control technology inside the AR.Drone micro UAV

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