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oai:www.ideals.illinois.edu:2142/88007 2023-07-11 col_2142_5131 col_2142_14800 com_2142_5130 com_2142_14799 com_2142_234

Bretl, Timothy W. Hanley, David John 2015-09-29T20:38:08Z 2015-09-29T20:38:08Z 2015-08 2015-07-15 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. Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2015-09-29 without embargo terms The student, David Hanley, accepted the attached license on 2015-07-13 at 22:12. The student, David Hanley, submitted this Thesis for approval on 2015-07-13 at 22:17. This Thesis was approved for publication on 2015-07-15 at 07:43. DSpace SAF Submission Ingestion Package generated from Vireo submission #8363 on 2015-09-29 at 13:22:11 Made available in DSpace on 2015-09-29T20:38:08Z (GMT). No. of bitstreams: 2 HANLEY-THESIS-2015.pdf: 1334730 bytes, checksum: 80f694c36d98c7d6cea516cc177d4295 (MD5) LICENSE.txt: 4209 bytes, checksum: 6065985d535aa75a29a8a802c0d7bc9f (MD5) Previous issue date: 2015-07-15 application/pdf http://hdl.handle.net/2142/88007 en Copyright 2015 David Hanley Inertial Navigation Unmanned Aircraft Quadrotors Observer Estimator An improved model-based observer for inertial navigation for quadrotors with low cost IMUs text text 2015-8 Aerospace Engineering Aerospace Engineering University of Illinois at Urbana-Champaign Thesis M.S.