Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator
نویسندگان
چکیده
منابع مشابه
A Novel ICA-based Estimator for Software Cost Estimation
One of the most important and valuable goal of software development life cycle is software cost estimation or SCE. During the recent years, SCE has attracted the attention of researchers due to huge amount of software project requests. There have been proposed so many models using heuristic and meta-heuristic algorithms to do machine learning process for SCE. COCOMO81 is one of the most popular...
متن کاملA new estimator for vector velocity estimation.
A new estimator for determining the two-dimensional velocity vector using a pulsed ultrasound field is derived. The estimator uses a transversely modulated ultrasound field for probing the moving medium under investigation. A modified autocorrelation approach is used in the velocity estimation. The new estimator automatically compensates for the axial velocity when determining the transverse ve...
متن کاملa novel ica-based estimator for software cost estimation
one of the most important and valuable goal of software development life cycle is software cost estimation or sce. during the recent years, sce has attracted the attention of researchers due to huge amount of software project requests. there have been proposed so many models using heuristic and meta-heuristic algorithms to do machine learning process for sce. cocomo81 is one of the most popular...
متن کاملOptimal Kalman Filter for state estimation of a quadrotor UAV
In this work, the main objective is to study the Optimal Kalman Filtering (OKF) method for estimating the state vector of a small quadrotor UAV through incorporating the internal disturbances including the white Gaussian process and measurement noises. Firstly, the kinematic and dynamic model of the quadrotor is transformed into a discrete-time system via the linear extrapolation method. Second...
متن کاملRobust Control of a Quadrotor using EKBF State Vector Estimation
This paper presents the design of an optimal nonlinear controller for trajectory tracking of a quadrotor helicopter based on the well-known sliding mode control method (SMC). To this end, the Lyapunov law analysis has been used regarding nonlinear equations of the quadrotor. The proposed control method is characterized by its robustness against disturbances and aerodynamic effects. One of the m...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics & Automation Magazine
سال: 2013
ISSN: 1070-9932
DOI: 10.1109/mra.2012.2225472