Verveld, Mark Johannes and Chu, Qu Ping and de Wagter, Christophe and Mulder, Jan Albert (2010) Optic Flow Based State Estimation for an Indoor Micro Air Vehicle. AIAA GNC 2010, 2.-5. Aug. 2010, Toronto, Kanada.
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This work addresses the problem of indoor state estimation for autonomous flying vehicles with an optic flow approach. The paper discusses a sensor configuration using six optic flow sensors of the computer mouse type augmented by a three-axis accelerometer to estimate velocity, rotation, attitude and viewing distances. It is shown that the problem is locally observable for a moving vehicle. A Kalman filter is used to extract these states from the sensor data. The resulting approach is tested in a simulation environment evaluating the performance of three Kalman filter algorithms under various noise conditions. Finally, a prototype of the sensor hardware has been built and tested in a laboratory setup.
|Document Type:||Conference or Workshop Item (Speech, Paper)|
|Title:||Optic Flow Based State Estimation for an Indoor Micro Air Vehicle|
|Date:||4 August 2010|
|Keywords:||state estimation, micro air vehicle, optical flow, Kalman filter, Unscented KF, Iterated Extended KF, nonlinear observability|
|Event Title:||AIAA GNC 2010|
|Event Location:||Toronto, Kanada|
|Event Type:||international Conference|
|Event Dates:||2.-5. Aug. 2010|
|HGF - Research field:||Aeronautics, Space and Transport (old)|
|HGF - Program:||Aeronautics|
|HGF - Program Themes:||Aircraft Research|
|DLR - Research area:||Aeronautics|
|DLR - Program:||L AR - Aircraft Research|
|DLR - Research theme (Project):||L - Simulation & Validation|
|Institutes and Institutions:||Institute of Flight Systems > Unmanned Aircraft|
|Deposited By:||Mark Johannes Verveld|
|Deposited On:||28 Sep 2010 10:32|
|Last Modified:||28 Sep 2010 10:32|
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