Model-aided state estimation for quadrotor micro air vehicles amidst wind disturbances
2014 (English)Conference paper (Refereed)
This paper extends the recently developed Model-Aided Visual-Inertial Fusion (MA-VIF) technique for quadrotor Micro Air Vehicles (MAV) to deal with wind disturbances. The wind effects are explicitly modelled in the quadrotor dynamic equations excluding the unobservable wind velocity component. This is achieved by a nonlinear observability of the dynamic system with wind effects. We show that using the developed model, the vehicle pose and two components of the wind velocity vector can be simultaneously estimated with a monocular camera and an inertial measurement unit. We also show that the MA-VIF is reasonably tolerant to wind disturbances, even without explicit modelling of wind effects and explain the reasons for this behaviour. Experimental results using a Vicon motion capture system are presented to demonstrate the effectiveness of the proposed method and validate our claims.
Place, publisher, year, edition, pages
2014. 4813-4818 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 21530858 ; 6943246
Intelligent robots, Micro air vehicle (MAV), Units of measurement, Wind, Wind effects, Developed model, Dynamic equations, Inertial measurement unit, Monocular cameras, Motion capture system, Nonlinear observability, Wind disturbance, Wind velocities, Aircraft
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-167559DOI: 10.1109/IROS.2014.6943246ScopusID: 2-s2.0-84911479196ISBN: 9781479969340OAI: oai:DiVA.org:kth-167559DiVA: diva2:816142
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, 14 September 2014 through 18 September 2014
QC 201506022015-06-022015-05-222015-06-02Bibliographically approved