An Observer for Estimating Translational Velocity from Optic Flow and Radar

摘要: Title of Thesis: AN OBSERVER FOR ESTIMATING TRANSLATIONAL VELOCITY FROM OPTIC FLOW AND RADAR Steven Anthony Gerardi, Master Science, 2011 Thesis directed by: Professor J. Sean Humbert Department Aerospace Engineering This thesis presents the development a discrete time observer for estimating state information from optic flow and radar measurements. It is shown that estimates translational rotational speed can be extracted using least squares inversion wide fields view or, with addition Kalman Filter, small view. The approach demonstrated in simulated three dimensional urban environment on an autonomous quadrotor micro-air-vehicle (MAV). A feedback control scheme designed, whereby gains are found via static H∞, implemented to allow trajectory following. proposed estimation method sufficient enabling navigation MAV. resulting methodology has advantages computational simplicity, both which imperative implementation MAVs due stringent size, weight, power requirements.