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Estimating body-fixed frame velocity and attitude from inertial measurements for a quadrotor vehicle

Allibert, Guillaume; Abeywardena, Dinuka; Bangura, Moses; Mahony, Robert


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]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: 2014 IEEE Conference on Control Applications, CCA 2014
DOI: 10.1109/CCA.2014.6981462


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