Estimating body-fixed frame velocity and attitude from inertial measurements for a quadrotor vehicle
A key requirement for effective control of quadrotor vehicles is estimation of both attitude and linear velocity. Recent work has demonstrated that it is possible to measure horizontal velocities of a quadrotor vehicle from strap-down ac-celerometers along with a system model. In this paper we extend this to full body-fixed-frame velocity measurement by exploiting recent work in aerodynamic modeling of rotor performance and measurements of mechanical power supplied to the rotor hub. We use...[Show more]
|Collections||ANU Research Publications|
|Source:||2014 IEEE Conference on Control Applications, CCA 2014|
|01_Allibert_Estimating_body-fixed_frame_2014.pdf||737.31 kB||Adobe PDF||Request a copy|
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