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A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle

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dc.contributor.authorHenderson, Jack
dc.contributor.authorZamani, Mohammad
dc.contributor.authorMahony, Robert
dc.contributor.authorTrumpf, Jochen
dc.date.accessioned2021-07-29T03:22:42Z
dc.date.available2021-07-29T03:22:42Z
dc.date.issued2020-09-10
dc.description.abstractAccurate localisation of unmanned aerial vehicles is vital for the next generation of automation tasks. This paper proposes a minimum energy filter for velocity-aided pose estimation on the extended special Euclidean group. The approach taken exploits the Lie-group symmetry of the problem to combine Inertial Measurement Unit (IMU) sensor output with landmark measurements into a robust and high performance state estimate. We propose an asynchronous discrete-time implementation to fuse high bandwidth IMU with low bandwidth discrete-time landmark measurements typical of real-world scenarios. The filter's performance is demonstrated by simulation.en_AU
dc.description.sponsorshipThis research is supported by the Commonwealth of Australia as represented by the Defence Science and Technology Group of the Department of Defence and by the Australian Research Council Discovery Project DP190103615: “Control of Network Systems with Signed Dynamical Interconnections”en_AU
dc.format.mimetypeapplication/pdfen_AU
dc.identifier.isbn978-1-7281-7447-1en_AU
dc.identifier.urihttp://hdl.handle.net/1885/241391
dc.language.isoen_AUen_AU
dc.provenancehttps://www.ieee.org/publications/rights/author-posting-policy.html..." authors are free to post their own version of their IEEE periodical or conference articles on their personal Web sites, those of their employers, or their funding agencies for the purpose of meeting public availability requirements prescribed by their funding agencies." from the publisher site (as at 29 July 2021)en_AU
dc.publisherIEEEen_AU
dc.relationhttp://purl.org/au-research/grants/arc/DP190103615en_AU
dc.relation.ispartof2020 59th IEEE Conference on Decision and Control (CDC)en_AU
dc.rights© 2020 IEEEen_AU
dc.titleA Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicleen_AU
dc.typeConference paperen_AU
dcterms.accessRightsOpen Accessen_AU
local.bibliographicCitation.lastpage4193en_AU
local.bibliographicCitation.startpage4188en_AU
local.contributor.affiliationHenderson, J., Australian Centre for Robotic Vision, The Australian National Universityen_AU
local.contributor.affiliationMahony, R., Australian Centre for Robotic Vision, The Australian National Universityen_AU
local.contributor.affiliationTrumpf, J., Australian Centre for Robotic Vision, The Australian National Universityen_AU
local.contributor.authoruidu5561978en_AU
local.identifier.doi10.1109/CDC42340.2020.9303730en_AU
local.publisher.urlhttps://www.ieee.org/en_AU
local.type.statusAccepted Versionen_AU

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