DocumentCode
61614
Title
Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model
Author
Leishman, Robert C. ; Macdonald, John C. ; Beard, R.W. ; McLain, Timothy W.
Author_Institution
U.S. Air Force Res. Lab., Wright-Patterson AFB, OH, USA
Volume
34
Issue
1
fYear
2014
fDate
Feb. 2014
Firstpage
28
Lastpage
41
Abstract
Results are presented that quantify how velocity and attitude estimates can benefit from an improvement to the traditional quadrotor dynamic model. The improved model allows accelerometer measurements, which are routinely available at high rates, to reduce an estimator´s dependence on complex exteroceptive measurements, such as those obtained by an onboard camera or laser range finder.
Keywords
accelerometers; attitude measurement; autonomous aerial vehicles; helicopters; robot dynamics; state estimation; velocity measurement; accelerometers; attitude estimation; autonomous flight; confined spaces; dynamic model; obstacle avoidance; quadrotor flight; state estimation; unknown-complex environments; velocity estimation; Aircraft navigation; Algorithm design and analysis; Rotors; Sensors; Unmanned aerial vehicles;
fLanguage
English
Journal_Title
Control Systems, IEEE
Publisher
ieee
ISSN
1066-033X
Type
jour
DOI
10.1109/MCS.2013.2287362
Filename
6712956
Link To Document