In this paper we consider an aerial vehicle transporting a suspended payload and propose an Extended Kalman filter for payload state estimation. The filter is based on derived system dynamics and relies solely on onboard IMU measurements. Effectiveness of the method is verified in numerical simulations and experimentally.


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    Titel :

    Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing


    Beteiligte:
    Prkacin, Vicko (Autor:in) / Palunko, Ivana (Autor:in) / Petrovic, Ivan (Autor:in)


    Erscheinungsdatum :

    01.10.2021


    Format / Umfang :

    2880644 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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