A lightweight solution for estimating position and velocity relative to a known marker is presented. The marker consists of three infrared (IR) LEDs in a fixed pattern. Using an IR camera with a 100 Hz update rate, the range and bearing to the marker are calculated. This information is then fused with inertial sensor information to produce state estimates at 1 kHz using a sigma point Kalman filter. The computation takes place on a 14 gram custom autopilot, yielding a lightweight system for generating high-rate relative state information. The estimation scheme is compared to data recorded with a motion capture system.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Lightweight infrared sensing for relative navigation of quadrotors


    Beteiligte:
    Cutler, Mark (Autor:in) / Michini, Bernard (Autor:in) / How, Jonathan P. (Autor:in)


    Erscheinungsdatum :

    01.05.2013


    Format / Umfang :

    697742 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Lightweight infrared sensing for relative navigation of quadrotors

    Cutler, Mark Johnson / Michini, Bernard J. / How, Jonathan P. | DSpace@MIT | 2013

    Freier Zugriff

    Navigation of Indoor Spaces Using Multiple Quadrotors

    Katona, Brian / Morgansen, Kristi | AIAA | 2019


    Relative Position-Based Visual Servoing Control for Quadrotors

    Akhtar, A. / Tribou, M. / Waslander, S. et al. | British Library Conference Proceedings | 2012


    Relative Position-Based Visual Servoing Control for Quadrotors

    Tribou, Michael / Akhtar, Adeel / Waslander, Steven | AIAA | 2012


    Lidar-based SLAM and autonomous navigation for forestry quadrotors

    Hu, Xuejun / Wang, Meishan / Qian, Chenghao et al. | IEEE | 2018