Self-motion and wind velocity estimation for small-scale UAVs

摘要：

For small-scale Unmanned Aerial Vehicles (UAV) to operate indoor, in urban canyons or other scenarios where signals from global navigation satellite systems are denied or impaired, alternative estimation and control strategies must be applied. In this paper a system is proposed that estimates the self-motion and wind velocity by fusing information from airspeed sensors, an inertial measurement unit (IMU) and a monocular camera. Such estimates can be used in control systems for managing wind disturbances or chemical plumebased tracking strategies. Simulation results indicate that while the inertial dead-reckoning process is subject to drift, the system is capable of separating the self-motion and wind velocity from the airspeed information.

作者: Dave Zachariah Magnus Jansson

作者单位: ACCESS Linnaeus Centre,School of Electrical Engineering,KTH Royal Institute of Technology,SE-100 44 Stockholm,Sweden

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1166-1171

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）