This paper details the fundamentals of a new approach to navigation for aerial vehicles in confined indoor environments without access to global-position measurements. The approach departs from the common practice of navigating within a globally referenced map, and it instead keeps the position and yaw states relative to the current node in the map. The approach combines elements of graph-based simultaneous localization and mapping with a multiplicative extended Kalman filter. The filter provides accurate state estimates at a fast rate and provides the information necessary for a simultaneous localization and mapping algorithm to maintain a pose graph. Specific details for the relative multiplicative extended Kalman filter are provided. The relative estimation approach is validated with hardware flight tests, and results are compared to motion capture ground truth data. In addition, flight-test results using estimates in the control loop are provided.


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    Title :

    Multiplicative Extended Kalman Filter for Relative Rotorcraft Navigation


    Contributors:

    Published in:

    Publication date :

    2015-12-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English







    Application of the Extended Kalman Filter for Relative Navigation in an Elliptical Orbit

    Garrison, J. L. / Axelrad, P. / American Astronautical Society et al. | British Library Conference Proceedings | 1996


    Generalized Multiplicative Extended Kalman Filter for Aided Attitude and Heading Reference System

    Martin, P. / Salaun, E. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2010