Self-motion and wind velocity estimation for small-scale UAVs

For small-scale Unmanned Aerial Vehicles (UAV) to operate indoor, in urban canyons or other scenarios where signals from global navigation satellite systems are denied or impaired, alternative estimation and control strategies must be applied. In this paper a system is proposed that estimates the se...

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Bibliographic Details
Published in2011 IEEE International Conference on Robotics and Automation pp. 1166 - 1171
Main Authors Zachariah, Dave, Jansson, Magnus
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2011
Subjects
Cameras
Covariance matrix
Electrical engineering, electronics and photonics
Elektroteknik, elektronik och fotonik
Estimation
Feature extraction
Noise
Sensors
TECHNOLOGY
TEKNIKVETENSKAP
Visualization
Online AccessGet full text
ISBN9781612843865
1612843867
ISSN1050-4729
DOI10.1109/ICRA.2011.5979676

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Summary:For small-scale Unmanned Aerial Vehicles (UAV) to operate indoor, in urban canyons or other scenarios where signals from global navigation satellite systems are denied or impaired, alternative estimation and control strategies must be applied. In this paper a system is proposed that estimates the self-motion and wind velocity by fusing information from airspeed sensors, an inertial measurement unit (IMU) and a monocular camera. Such estimates can be used in control systems for managing wind disturbances or chemical plume based tracking strategies. Simulation results indicate that while the inertial dead-reckoning process is subject to drift, the system is capable of separating the self-motion and wind velocity from the airspeed information.
ISBN:9781612843865
1612843867
ISSN:1050-4729
DOI:10.1109/ICRA.2011.5979676