Aircraft State Estimation using Inertial Sensor and Stereo Camera Pair

摘要：

State determination is essential for a small unmanned air vehicle (UAV) to achieve fully autonomous control and navigation. For that purpose a new method for estimating aircraft state is presented using a MEMSbased Inertial Measurement Unit (MIMU) combined with a stereo camera pair. This approach is realized by a Kalman filter and an Extended State Observer (ESO). By fusion of measurements obtained from MIMU and vision data from ground feature tracking, the velocity and horizontal attitude of the aircraft are estimated. Furthermore, the algorithm must be robust with respect to noise in the measured feature point positions in the image plane. Simulation is presented for a small UAV flight through a virtual environment. And its results show good performance and robustness.

关键词： state estimation kalman filter extended state observer steteo vision

作者: LI Jian LI Xiao-min QIAN Ke-chang

作者单位: Optical and Electronic Engineering Department of Ordnance Engineering College Shijiazhuang, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measurement and Control Engineering(2010年IEEE测量与控制工程国际会议 ICMCE2010)

会议地点: 成都

会议语种:英文

页码: 389-393

在线出版日期: 2010-11-16（万方平台首次上网日期，不代表论文的发表时间）