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Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model

2014; Institute of Electrical and Electronics Engineers; Volume: 34; Issue: 1 Linguagem: Inglês

10.1109/mcs.2013.2287362

1941-000X

Robert C. Leishman, John C. Macdonald, Randal W. Beard, Timothy W. McLain,

Robotics and Sensor-Based Localization

Results are presented that quantify how velocity and attitude estimates can benefit from an improvement to the traditional quadrotor dynamic model. The improved model allows accelerometer measurements, which are routinely available at high rates, to reduce an estimator's dependence on complex exteroceptive measurements, such as those obtained by an onboard camera or laser range finder.