A state estimator of UAV using time-delayed position and IMU data

被引：0

作者：

Qi, Xiaoqiang ^{[1
]}

Li, Jiayi ^{[1
]}

Dong, Wei ^{[1
]}

机构：

[1] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai, Peoples R China

来源：

ICECC 2021: 4TH INTERNATIONAL CONFERENCE ON ELECTRONICS, COMMUNICATIONS AND CONTROL ENGINEERING | 2021年

关键词：

UAV; state estimation; extended Kalman filter; time delay;

D O I：

10.1145/3462676.3462693

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The existence of noise and time delay in sensing makes state observation difficult for flying robots. In this paper, we propose a state observer to estimate states of unmanned aerial vehicle (UAV) in a cluttered environment where only noised and delayed position data is available. We implement an extended Kalman filter to fuse position data and Inertial Measurement Unit (IMU) data. IMU is also used to compensate for the delay in position data. Compared with previous works, we improve the accuracy of position observation and eliminate time delay through sensor fusion. Simulation and analysis are presented to verify the performance of this method.

引用

页码：105 / 110

页数：6

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