Inertial Velocity and Attitude Estimation for Quadrotors

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

doi:10.1109/IROS.2018.8593616

Inertial Velocity and Attitude Estimation for Quadrotors

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

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7810-7816
Number of pages	7
ISBN (Electronic)	9781538680940
DOIs	https://doi.org/10.1109/IROS.2018.8593616
State	Published - Dec 27 2018
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain Duration: Oct 1 2018 → Oct 5 2018

Publication series

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

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Country/Territory	Spain
City	Madrid
Period	10/1/18 → 10/5/18

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2018.8593616

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). Article 8593616 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593616

Inertial Velocity and Attitude Estimation for Quadrotors. / Svacha, James; Mohta, Kartik; Watterson, Michael et al.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 7810-7816 8593616 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 8593616, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 7810-7816, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 10/1/18. https://doi.org/10.1109/IROS.2018.8593616

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

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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.",

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AB - 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.

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Inertial Velocity and Attitude Estimation for Quadrotors

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