2016 IEEE International Conference on Robotics and Automation (ICRA) 2016
DOI: 10.1109/icra.2016.7487291
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Velocity aided attitude estimation for aerial robotic vehicles using latent rotation scaling

Abstract: Flight performance of aerial robotic vehicles is critically dependent on the quality of the state estimates provided by onboard sensor systems. The attitude estimation problem has been extensively studied over the last ten years and the development of low complexity, high performance, robust non-linear observers for attitude has been one of the enabling technologies fueling the growth of small scale aerial robotic systems. The velocity aided attitude estimation problem, that is simultaneous estimation of attit… Show more

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Cited by 16 publications
(17 citation statements)
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“…Velocity aided attitude estimation combines these two state estimation problems into a single observation problem. The vehicle's linear velocity measurements can be posed in either the inertial frame [36], [37], [38] or in the body fixed frame [39], [40], [41]. Bonnabel [42] proposed an invariant extended Kalman filter (EKF) for velocity and attitude estimation in quaternions.…”
Section: Monocular Visual Slamxmentioning
confidence: 99%
See 1 more Smart Citation
“…Velocity aided attitude estimation combines these two state estimation problems into a single observation problem. The vehicle's linear velocity measurements can be posed in either the inertial frame [36], [37], [38] or in the body fixed frame [39], [40], [41]. Bonnabel [42] proposed an invariant extended Kalman filter (EKF) for velocity and attitude estimation in quaternions.…”
Section: Monocular Visual Slamxmentioning
confidence: 99%
“…developed nonlinear observers based on Lyapunov analysis and approximation arguments [36], [45]. The authors prior work [39], [40] also considers the problem from a nonlinear observer design perspective in the body-fixed frame.…”
Section: Monocular Visual Slamxmentioning
confidence: 99%
“…This led to the development of velocity-aided attitude observers that fuse Inertial Measurement Unit (IMU) readings with the linear velocity measurements [2], [6], [ [12], [15], [18], [22]. The lack of an onboard linear velocity sensor for mini UAVs led other researchers to exploit the vehicle's dynamics equations instead [1], [11], [16], [19].…”
Section: Introductionmentioning
confidence: 99%
“…A velocity-aided attitude and gyro bias estimator has been proposed in [8] with global exponential stability by relaxing the attitude estimates to lie outside SO (3). Note that in the above mentioned papers, the IMU measurements are complemented with an inertial frame velocity measurements (such as those obtained from a GPS receiver) where some other existing works have considered linear velocity measurements in the body-fixed frame (such as those obtained from Airspeed or Doppler Velocity Log (DVL) sensors) [9], [10], [11], [12], [13], [14]. This paper addresses the attitude estimation problem using IMU and inertial-frame velocity measurements.…”
Section: Introductionmentioning
confidence: 99%