Inertial Velocity and Attitude Estimation for Quadrotors

James Svacha, Kartik Mohta, Michael Watterson, Giuseppe Loianno, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work addresses the design and implementation of a filter that estimates the orientation of the body-fixed $z$ axis and the velocity of a quadrotor UAV from the inertial measurement unit (IMU)given a known yaw. The velocity and attitude estimation is possible since the filter employs a linear drag model measuring the drag forces on the quadrotor through the IMU. These forces are functions of the robot's velocity and attitude. In addition, the filter estimates the linear drag parameters and thrust coefficient for the propellers. These parameters may be fed back into a controller to improve tracking performance. Experimental results are used to validate the proposed approach.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7810-7816
Number of pages7
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Svacha, J., Mohta, K., Watterson, M., Loianno, G., & Kumar, V. (2018). Inertial Velocity and Attitude Estimation for Quadrotors. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 7810-7816). [8593616] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593616