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State Estimation for highly dynamic flying Systems using Key Frame Odometry with varying Time Delays

Schmid, Korbinian and Ruess, Felix and Suppa, Michael and Burschka, Darius (2012) State Estimation for highly dynamic flying Systems using Key Frame Odometry with varying Time Delays. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2997-3004. IEEE. IROS 2012, 07-12 Oct 2012, Vilamoura, Portugal. ISBN 978-1-4673-1735-1

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Abstract

System state estimation is an essential part for robot navigation and control. A combination of Inertial Navigation Systems (INS) and further exteroceptive sensors such as cameras or laser scanners is widely used. On small robotic systems with limitations in payload, power consumption and computational resources the processing of exteroceptive sensor data often introduces time delays which have to be considered in the sensor data fusion process. These time delays are especially critical in the estimation of system velocity. In this paper we present a state estimation framework fusing an INS with time delayed, relative exteroceptive sensor measurements. We evaluate its performance for a highly dynamic flight system trajectory including a flip. The evolution of velocity and position errors for varying measurement frequencies from 15Hz to 1Hz and time delays up to 1s is shown in Monte Carlo simulations. The filter algorithm with key frame based odometry permits an optimal, local drift free navigation while still being computationally tractable on small onboard computers. Finally, we present the results of the algorithm applied to a real quadrotor by flying from inside a house out through the window.

Item URL in elib:https://elib.dlr.de/79964/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:State Estimation for highly dynamic flying Systems using Key Frame Odometry with varying Time Delays
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schmid, Korbiniankorbinian.schmid (at) dlr.deUNSPECIFIED
Ruess, Felixfelix.ruess (at) dlr.deUNSPECIFIED
Suppa, Michaelmichael.suppa (at) dlr.deUNSPECIFIED
Burschka, Dariusdarius.burschka (at) dlr.deUNSPECIFIED
Date:October 2012
Journal or Publication Title:2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 2997-3004
Publisher:IEEE
ISBN:978-1-4673-1735-1
Status:Published
Keywords:Aerial Robotics; Navigation; Sensor Fusion
Event Title:IROS 2012
Event Location:Vilamoura, Portugal
Event Type:international Conference
Event Dates:07-12 Oct 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Rueß, Felix
Deposited On:19 Dec 2012 09:48
Last Modified:13 Jul 2016 17:28

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