The feedback of position and attitude information are important for the autonomous control of a quadrotor unmanned aerial vehicle (UAV). But in the GPS-denied environments, it is hard to obtain the quadrotor UAV's position. The pose estimation problem for a quadrotor UAV is addressed in this paper. A miniature laser range finder and a miniature attitude heading reference system (AHRS) unit are employed as the main onboard sensors. And a new pose estimation algorithm is developed to provide accurate estimation for the UAV's position and attitude which can be utilized for the flight controller in the GPS-denied environments.


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    Titel :

    Pose estimation based on laser range finder for a quadrotor unmanned aerial vehicle in GPS-denied environment


    Beteiligte:
    Gu, Xun (Autor:in) / Xian, Bin (Autor:in) / Guo, Fang (Autor:in) / Zhang, Yao (Autor:in) / Zhang, Xu (Autor:in)


    Erscheinungsdatum :

    01.07.2013


    Format / Umfang :

    659638 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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