DocumentCode :
2953507
Title :
Robust state estimation for Micro Aerial Vehicles based on system dynamics
Author :
Burri, Michael ; Datwiler, Manuel ; Achtelik, Markus W. ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab. (ASL), Switzerland
fYear :
2015
fDate :
26-30 May 2015
Firstpage :
5278
Lastpage :
5283
Abstract :
In this work, we present a model-based estimation scheme for multi-rotor Micro Aerial Vehicles (MAVs). Although modeling approaches for MAVs have been presented in the past, these models have rarely been used for real-time state estimation onboard MAVs. Building on this work, we identify the most dominant effects and propose an easy-to-use calibration scheme for estimation of the model parameters. Given the calibration estimates for these parameters, we derive a state estimator where the state prediction of the indirect Extended Kalman Filter (EKF) is driven by a MAV model. Solely using measurements from the Inertial Measurement Unit (IMU) and a barometric pressure sensor - both available on almost every MAV - our model-based formulation keeps the estimated velocity of the MAV bounded in all directions, as opposed to state of the art IMU-model driven state estimators onboard MAVs. This is crucial for keeping MAVs airborne safely, for instance in the case of failures or re-initialization of vision based localization systems.
Keywords :
Kalman filters; calibration; nonlinear filters; pressure sensors; space vehicles; state estimation; units (measurement); vehicle dynamics; EKF; IMU; barometric pressure sensor; calibration scheme; indirect extended Kalman filter; inertial measurement unit; model-based estimation scheme; multirotor micro aerial vehicles; real-time state estimation onboard MAV; system dynamics; vision based localization systems; Acceleration; Accelerometers; Aerodynamics; Drag; Force; Mathematical model; Rotors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
Type :
conf
DOI :
10.1109/ICRA.2015.7139935
Filename :
7139935
Link To Document :
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