An improved model aided navigation method with online dynamics parameters estimation for Multirotor UAV (IEEE CGNCC)

被引：0

作者：

Chen, Wenjing ^{[1
,2
]}

Lai, Jizhou ^{[1
,2
]}

Liu, Min ^{[1
,2
]}

Lv, Pin ^{[3
]}

Liu, Jianye ^{[1
,2
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Nav Res Ctr, Nanjing, Jiangsu, Peoples R China

[2] Satellite Commun & Nav Collaborat Innovat Ctr, Nanjing, Jiangsu, Peoples R China

[3] Univ Toronto, Inst Aerosp Studies, 4925 Dufferin St, Toronto, ON M3H 5T6, Canada

来源：

2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC) | 2016年

基金：

中国国家自然科学基金;

关键词：

STATE ESTIMATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In recent years, multi rotorcraft is widely used in monitoring and investigation field in the near ground environment. At present, inertial/ GPS/ magnetic sensor/barometric altimeter integrated navigation scheme is usually used in multi rotorcraft. Velocity information in this scheme is of great dependence on GPS, and the velocity error will diverge rapidly in GPS-denied circumstance. In this paper, the reliability improvement of navigation system is investigated in the case of GPS failure. An online aerodynamic parameters estimation method of multi rotorcraft ADM aided navigation is presented. And the feasibility of the method is verified through observability analysis. Simulation results show that the method proposed in this paper can effectively improve the estimation accuracy of velocity.

引用

页码：2128 / 2133

页数：6

共 9 条

[1] Improved State Estimation in Quadrotor MAVs A Novel Drift-Free Velocity Estimator [J].

Abeywardena, Dinuka ;

Kodagoda, Sarath ;

Dissanayake, Gamini ;

Munasinghe, Rohan .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2013, 20 (04) :32-39

[2]

Abeywardena D, 2013, IEEE INT CONF ROBOT, P3148, DOI 10.1109/ICRA.2013.6631015

[3] Inertial navigation system aided by aircraft dynamics [J].

Koifman, M ;

Bar-Itzhack, IY .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1999, 7 (04) :487-493

[4]

Kong Xianglei, 2010, Chinese Journal of Sensors and Actuators, V23, P522

[5] Quadrotors and Accelerometers STATE ESTIMATION WITH AN IMPROVED DYNAMIC MODEL [J].

Leishman, Robert C. ;

Macdonald, John C., Jr. ;

Beard, Randal W. ;

Mclain, Timothy W. .

IEEE CONTROL SYSTEMS MAGAZINE, 2014, 34 (01) :28-41

[6] Build Your Own Quadrotor Open-Source Projects on Unmanned Aerial Vehicles [J].

Lim, Hyon ;

Park, Jaemann ;

Lee, Daewon ;

Kim, H. J. .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2012, 19 (03) :33-45

[7] Analysis of an Improved IMU-Based Observer for Multirotor Helicopters [J].

Macdonald, John ;

Leishman, Robert ;

Beard, Randal ;

McLain, Timothy .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2014, 74 (3-4) :1049-1061

[8] Aerial Robotics and the Quadrotor [J].

Mahony, Robert ;

Kumar, Vijay .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2012, 19 (03) :19-19

[9] State Estimation Based on the Concept of Continuous Symmetry and Observability Analysis: The Case of Calibration [J].

Martinelli, Agostino .

IEEE TRANSACTIONS ON ROBOTICS, 2011, 27 (02) :239-255

← 1 →