A Sensor Fusion Approach to Observe Quadrotor Velocity-Reference-Cited by-同舟云学术

A Sensor Fusion Approach to Observe Quadrotor Velocity

Published:2024-06-03 Issue:11 Volume:24 Page:3605
ISSN:1424-8220
Container-title:Sensors
language:en
Short-container-title:Sensors

Author:

Meza-Ibarra José Ramón¹,Martínez-Ulloa Joaquín¹,Moreno-Pacheco Luis Alfonso¹^ORCID,Rodríguez-Cortés Hugo²^ORCID

Affiliation:

1. Sección de Estudios de Posgrado, Escuela Superior de Ingeniería Mecánica y Eléctrica, Instituto Politécnico Nacional, Av. Instituto Politécnico Nacional, S/N, Col. Lindavista, Ciudad de México 07738, Mexico

2. Departamento de Ingeniería Eléctrica y Electrónica, Instituto Tecnológico Autónomo de México, Río Hondo 1, Tizapán, Mexico City 01080, Mexico

Abstract

The growing use of Unmanned Aerial Vehicles (UAVs) raises the need to improve their autonomous navigation capabilities. Visual odometry allows for dispensing positioning systems, such as GPS, especially on indoor flights. This paper reports an effort toward UAV autonomous navigation by proposing a translational velocity observer based on inertial and visual measurements for a quadrotor. The proposed observer complementarily fuses available measurements from different domains and is synthesized following the Immersion and Invariance observer design technique. A formal Lyapunov-based observer error convergence to zero is provided. The proposed observer algorithm is evaluated using numerical simulations in the Parrot Mambo Minidrone App from Simulink-Matlab.

Publisher

MDPI AG

Link

https://www.mdpi.com/1424-8220/24/11/3605/pdf

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