New paper on "Inertial Yaw-Independent Velocity and Attitude Estimation for High Speed Quadrotor Flight"
We are proud to share our new paper "Inertial Yaw-Independent Velocity and Attitude Estimation for High Speed Quadrotor Flight". We address an important key navigation question
Is it possible to estimate the velocity and attitude of a quadrotor using only IMU data without dead-reckoning procedures?
The paper has been fully accepted for publication on Robotics and Automation Letters and ICRA 2019:
https://ieeexplore.ieee.org/document/8620279
This work addresses the velocity and attitude estimation of a quadrotor using motor speeds IMU data. This result is obtained through a novel filter that employs a first order drag model which allows the velocity to be observed through the drag forces acting on the quadrotor. These forces are measured with the IMU. The velocity and attitude estimates are no longer affected by yaw drifts obtained from dead-reckoning procedures. The camera available on the vehicle can optionally be employed to recover the yaw in a computationally efficient manner. The IMU is concurrently used to estimate the thrust, linear drag coefficients, and accelerometer biases.
Co-Founder & Chief Technology Officer @ SeekOps Inc. | Emissions Monitoring
6 年Impressive! Can you please share your paper with me? I assume that since you are using a drag model to you are able to pull out an estimated wind speed as well?
Leadership & Management | Engineering & Technology | Critical & Regulated Industries
6 年Congratulations Giuseppe Loianno
CEO/Co-founder ModalAI | Accelerating autonomy w/ small, light, & powerful robot and drone perception and comms systems
6 年Nice work ??