An improved model-based observer for inertial navigation for quadrotors with low cost IMUs
Hanley, David John
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https://hdl.handle.net/2142/88007
Description
Title
An improved model-based observer for inertial navigation for quadrotors with low cost IMUs
Author(s)
Hanley, David John
Issue Date
2015-07-15
Director of Research (if dissertation) or Advisor (if thesis)
Bretl, Timothy W.
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(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.
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