Motion estimation using optical flow sensors and rate gyros
作者： Xiaoming Liu , Zhongyuan Chen , Wanchun Chen , Xiaolan Xing
DOI: 10.1109/ICMA.2016.7558821
关键词:
摘要: Optical flow sensors (OFSs), with characteristics of small size, light weight, low cost, little power consumption, fast response and no radiation, are suitable for miniature aerial vehicles (MAVs) to detect the environment around them. According our recent works, besides velocity flight height above ground, many other states can also be obtained using optical rate gyros, including attack angle, sideslip MAV's Euler angles so on. In this paper, a placement scheme OFSs on MAV is proposed. After establishing measurement equations, an Unscented Kalman Filter (UKF) applied estimate MAV. Simulation results show that estimated accurately quickly. The initial error between true values estimations will distinguished in about 4 seconds. Using as feedbacks, autopilot control effectively. Optimal discussed.
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