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A Model-aided Optical Flow/Inertial Sensor Fusion Method for a Quadrotor

Published online by Cambridge University Press:  12 August 2016

Pin Lyu ,
Jizhou Lai ,
Hugh H.T. Liu ,
Jianye Liu  and
Wenjing Chen
Pin Lyu
Affiliation:
(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China) (Institute for Aerospace Studies, University of Toronto, Toronto, Canada)
Jizhou Lai*
Affiliation:
(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Hugh H.T. Liu
Affiliation:
(Institute for Aerospace Studies, University of Toronto, Toronto, Canada)
Jianye Liu
Affiliation:
(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
Wenjing Chen
Affiliation:
(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China)
*
(E-mail: laijz@nuaa.edu.cn)
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Abstract

In this paper, a fault-tolerant velocity estimation method is proposed for quadrotors in a GPS denied environment. A novel filter is developed in light of the quadrotor model and measurements from optical flow and inertial sensors. The proposed filter is capable of detecting and isolating the optical flow sensor faults, by which the velocity estimation accuracy and stability will be improved. It is also demonstrated that the wind velocity is observable in the proposed filter. Therefore, the new filter can also be implemented in a windy environment, which is a significant improvement to the previous model-aided inertial sensor estimator. At the end, some simulations are carried out to verify the advantages of our method.

Keywords

State estimationModel-aided navigationOptical flowMultirotor
Type
Research Article
Information
The Journal of Navigation , Volume 70 , Issue 2 , March 2017 , pp. 325 - 341
Copyright
Copyright © The Royal Institute of Navigation 2016 

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References

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