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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

Description

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]

dc.contributor.authorAllibert, Guillaume
dc.contributor.authorAbeywardena, Dinuka
dc.contributor.authorBangura, Moses
dc.contributor.authorMahony, Robert
dc.coverage.spatialAntibes, France
dc.date.accessioned2015-12-10T22:41:26Z
dc.date.createdOctober 8-10 2014
dc.identifier.isbn9781479974092
dc.identifier.urihttp://hdl.handle.net/1885/57902
dc.description.abstractA 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 these measurements in a combined attitude and velocity nonlinear observer design to jointly estimate attitude and body-fixed-frame linear velocity. Almost global asymptotic stability of the resulting system is demonstrated using Lyapunov analysis of the resulting error system. In the current work, we ignore bias and leave it for future work. The performance of the observer is verified by simulation results.
dc.publisherIEEE
dc.relation.ispartofseries2014 IEEE Conference on Control Applications, CCA 2014
dc.source2014 IEEE Conference on Control Applications, CCA 2014
dc.titleEstimating body-fixed frame velocity and attitude from inertial measurements for a quadrotor vehicle
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2014
local.identifier.absfor010300 - NUMERICAL AND COMPUTATIONAL MATHEMATICS
local.identifier.absfor080100 - ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING
local.identifier.absfor010200 - APPLIED MATHEMATICS
local.identifier.ariespublicationa383154xPUB420
local.type.statusPublished Version
local.contributor.affiliationAllibert, Guillaume, Universite de Nice Sophia Antipolis
local.contributor.affiliationAbeywardena, Dinuka, University of Technology Sydney
local.contributor.affiliationBangura, Moses, College of Engineering and Computer Science, ANU
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.startpage978
local.bibliographicCitation.lastpage983
local.identifier.doi10.1109/CCA.2014.6981462
dc.date.updated2015-12-09T11:07:43Z
local.identifier.scopusID2-s2.0-84920517886
CollectionsANU Research Publications

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