Title :
A fusion of a range sensor and IMU using EM-particle filter for measuring distance between quadrotors
Author :
Young-Cheol Choi ; Hyo-Sung Ahn
Author_Institution :
Sch. of Mechatron., Gwangju Inst. of Sci. & Technol., Gwangju, South Korea
Abstract :
In this paper, a precise relative distance measuring problem is addressed for indoor formation flight of quadrotors. We have used the range sensor to measure the relative distance between two quadrotors; but the reception rate of the range sensor is highly dependent on the environments. To compensate the missing data from the range sensor, the EM-particle filter is used for fusing data from the range sensor and inertial measurement unit (IMU) in the quadrotor system. The particle filter is based on the Monte Carlo method; thus it is suitable for a nonlinear and non-Gaussian model and it can be applied for arbitrary inertial characteristics and dynamics. The experimental simulation results show the performance and effectiveness of the proposed approach compared to using only range sensor.
Keywords :
Monte Carlo methods; distance measurement; expectation-maximisation algorithm; helicopters; inertial systems; particle filtering (numerical methods); sensor fusion; Monte Carlo method; arbitrary inertial characteristics; distance measurement; expectation-maximization-particle filter; inertial measurement unit sensor; nonlinear nonGaussian model; quadrotor system; range sensor fusion; Approximation algorithms; Atmospheric measurements; Global Positioning System; Mathematical model; Noise; Noise measurement; Particle measurements;
Conference_Titel :
Control, Automation and Information Sciences (ICCAIS), 2014 International Conference on
Conference_Location :
Gwangju
DOI :
10.1109/ICCAIS.2014.7020572
