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.


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    Titel :

    Lightweight infrared sensing for relative navigation of quadrotors


    Beteiligte:

    Erscheinungsdatum :

    2013


    Anmerkungen:

    Cutler, Mark, Bernard Michini, and Jonathan P. How. “Lightweight infrared sensing for relative navigation of quadrotors.” In 2013 International Conference on Unmanned Aircraft Systems (ICUAS), 28-31 May 2013, Atlanta, GA. pp. 1156-1164. Institute of Electrical and Electronics Engineers, 2013.





    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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