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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lightweight infrared sensing for relative navigation of quadrotors


    Contributors:


    Publication date :

    2013-05-01


    Size :

    697742 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Lightweight infrared sensing for relative navigation of quadrotors

    Cutler, Mark Johnson / Michini, Bernard J. / How, Jonathan P. | DSpace@MIT | 2013

    Free access

    Navigation of Indoor Spaces Using Multiple Quadrotors

    Katona, Brian / Morgansen, Kristi | AIAA | 2019


    Relative Position-Based Visual Servoing Control for Quadrotors

    Akhtar, A. / Tribou, M. / Waslander, S. et al. | British Library Conference Proceedings | 2012


    Relative Position-Based Visual Servoing Control for Quadrotors

    Tribou, Michael / Akhtar, Adeel / Waslander, Steven | AIAA | 2012


    Lidar-based SLAM and autonomous navigation for forestry quadrotors

    Hu, Xuejun / Wang, Meishan / Qian, Chenghao et al. | IEEE | 2018