This paper introduces a non-linear observer for dead reckoning of a fixed-wing UAV. The sensors used are an Inertial Measurement Unit (IMU), a camera, an altimeter, a magnetometer, and an inclinometer. A machine vision system calculates the optical flow (OF), which is used to provide the body-fixed velocity of the UAV. The observer is able to estimate attitude, gyro bias, vertical position, linear velocity, and linear acceleration, whereas the horizontal position is calculated by direct integration of the estimated velocity. A key contribution of the paper is the proof of global exponential stability (GES) of the observer, together with a test on experimental data: the horizontal position is calculated through dead reckoning, which leads to an inevitable divergence from the real values, but the exponential convergence of the linear velocity guarantees that the position can diverge at no more than a bounded rate. Experimental data are used to test the observer and compared with the output of an extended Kalman filter (EKF): the estimates converge quickly to similar estimates as the EKF, and the horizontal position is shown to drift at no more than a bounded rate, as expected.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A globally exponentially stable non-linear velocity observer for vision-aided UAV dead reckoning


    Beteiligte:
    Fusini, Lorenzo (Autor:in) / Johansen, Tor A. (Autor:in) / Fossen, Thor I. (Autor:in)


    Erscheinungsdatum :

    2016-03-01


    Format / Umfang :

    11534111 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Globally exponentially stable observer for vision-based range estimation

    Dani, A.P. / Fischer, N.R. / Kan, Z. et al. | Tema Archiv | 2012


    3D Passive-Vision-Aided Pedestrian Dead Reckoning for Indoor Positioning

    Yan, J / Basiri, A / He, G et al. | BASE | 2019

    Freier Zugriff

    AN INEXPENSIVE DME-AIDED DEAD RECKONING NAVIGATOR

    Gebre-Egziabher, Demoz | Online Contents | 2003



    Map-Aided Dead-Reckoning Using Only Measurements of Speed

    Wahlstrom, Johan / Skog, Isaac / Rodrigues, Joao G. P. et al. | IEEE | 2016