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Title:An improved model-based observer for inertial navigation for quadrotors with low cost IMUs
Author(s):Hanley, David John
Advisor(s):Bretl, Timothy W.
Department / Program:Aerospace Engineering
Discipline:Aerospace Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Inertial Navigation
Unmanned Aircraft
Quadrotors
Observer
Estimator
Abstract:In this thesis, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of reference---including along the z-axis of this frame---with data only from a low-cost inertial measurement unit (IMU), something that has not been demonstrated previously. An observability analysis predicts that our proposed observer will perform well. Experimental results over 110 flight trials verify this prediction, showing that our proposed observer achieves lower root mean square error than three other state-of-the-art model-based observers.
Issue Date:2015-07-15
Type:Thesis
URI:http://hdl.handle.net/2142/88007
Rights Information:Copyright 2015 David Hanley
Date Available in IDEALS:2015-09-29
Date Deposited:August 201


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