Self-motion and wind velocity estimation for small-scale UAVs
2011 (English)In: 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2011, 1166-1171 p.Conference paper (Refereed)
For small-scale Unmanned Aerial Vehicles (UAV) to operate indoor, in urban canyons or other scenarios where signals from global navigation satellite systems are denied or impaired, alternative estimation and control strategies must be applied. In this paper a system is proposed that estimates the self-motion and wind velocity by fusing information from airspeed sensors, an inertial measurement unit (IMU) and a monocular camera. Such estimates can be used in control systems for managing wind disturbances or chemical plume based tracking strategies. Simulation results indicate that while the inertial dead-reckoning process is subject to drift, the system is capable of separating the self-motion and wind velocity from the airspeed information.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2011. 1166-1171 p.
Cameras, Covariance matrix, Estimation, Feature extraction, Noise, Sensors, Visualization
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-32325DOI: 10.1109/ICRA.2011.5979676ISI: 000324383400052ScopusID: 2-s2.0-84871683833ISBN: 978-1-61284-386-5OAI: oai:DiVA.org:kth-32325DiVA: diva2:410040
IEEE International Conference on Robotics and Automation (ICRA). Shanghai, China. May 9-13 2011
FunderICT - The Next Generation
QC 201104122012-11-132011-04-122014-09-30Bibliographically approved