The feedback of position and attitude information are important for the autonomous control of a quadrotor unmanned aerial vehicle (UAV). But in the GPS-denied environments, it is hard to obtain the quadrotor UAV's position. The pose estimation problem for a quadrotor UAV is addressed in this paper. A miniature laser range finder and a miniature attitude heading reference system (AHRS) unit are employed as the main onboard sensors. And a new pose estimation algorithm is developed to provide accurate estimation for the UAV's position and attitude which can be utilized for the flight controller in the GPS-denied environments.


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    Title :

    Pose estimation based on laser range finder for a quadrotor unmanned aerial vehicle in GPS-denied environment


    Contributors:
    Gu, Xun (author) / Xian, Bin (author) / Guo, Fang (author) / Zhang, Yao (author) / Zhang, Xu (author)


    Publication date :

    2013-07-01


    Size :

    659638 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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