Sensor Fusion for Quadrotor Autonomous Navigation

Gómez-Casasola, Alejandro; Rodriguez-Cortes, H.

doi:10.23919/acc45564.2020.9148023

Cited by 3 publications

(2 citation statements)

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“…An inertial coordinate frame and a non-inertial coordinate frame (body frame) attached to the quadrotor center of gravity are needed to describe the quadrotor dynamic, see Figure 1 . The following equations, expressed in mixed inertial and body coordinates, describe the translational and rotational quadrotor dynamics [ 26 ]:

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Section: Methodsmentioning

confidence: 99%

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Scale Factor Estimation for Quadrotor Monocular-Vision Positioning Algorithms

Gómez-Casasola

Rodriguez-Cortes

2022

Sensors

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Unmanned aerial vehicle (UAV) autonomous navigation requires access to translational and rotational positions and velocities. Since there is no single sensor to measure all UAV states, it is necessary to fuse information from multiple sensors. This paper proposes a deterministic estimator to reconstruct the scale factor of the position determined by a simultaneous localization and mapping (SLAM) algorithm onboard a quadrotor UAV. The position scale factor is unknown when the SLAM algorithm relies on the information from a monocular camera. Only onboard sensor measurements can feed the estimator; thus, a deterministic observer is designed to rebuild the quadrotor translational velocity. The estimator and the observer are designed following the immersion and invariance method and use inertial and visual measurements. Lyapunov’s arguments prove the asymptotic convergence of observer and estimator errors to zero. The proposed estimator’s and observer’s performance is validated through numerical simulations using a physics-based simulator.

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Section: Methodsmentioning

confidence: 99%

“…Numerical simulations using Gazebo are presented to support the theoretical developments. The outcomes of this paper are based on the preliminary works reported in [ 25 , 26 ].…”

Section: Introductionmentioning

confidence: 99%