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Optic Flow Based State Estimation for an Indoor Micro Air Vehicle

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
AuthorsInstitution or Email of Authors
Verveld, Mark JohannesFT-UL
Chu, Qu PingQ.P.Chu@tudelft.nl
de Wagter, ChristopheC.deWagter@tudelft.nl
Mulder, Jan AlbertJ.A.Mulder@tudelft.nl
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
Location: Braunschweig
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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