Design and implementation of sensor data fusion for an autonomous quadrotor
Design and implementation of sensor data fusion for an autonomous quadrotor
复制标题
自主四旋翼飞行器传感器数据融合的设计与实现
DOI：
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发表时间：
2014
期刊：
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通讯作者：
R. Canetti
中科院分区：
文献类型：
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作者：
Matías Tailanián;Santiago Paternain;R. Rosa;R. Canetti
本文介绍了设计和集成的仪器和传感器融合，用于允许自主飞行的四旋翼。采用商用框架，建立了四旋翼机的数学模型，并根据该单元的特性确定了其参数。一个9自由度的惯性测量单元（IMU）配备了一个气压计校准和添加到平台。传感器融合由两个改进的扩展卡尔曼滤波器（EKF）完成：一个组合由IMU提供的数据，另一个还包括GPS提供的信息。一个可靠的估计的状态变量。代表加速度计测量中的系统偏差的三个状态也被添加到EKF，这改进了位置的惯性估计。实现了稳定的自主平台。
This paper describes the design and integration of the instrumentation and sensor fusion that is used to allow the autonomous flight of a quadrotor. A comercial frame is used, a mathematical model for the quadrotor is developed and its parameters determined from the characterization of the unit. A 9 degrees of freedom Inertial Measurement Unit (IMU) equipped with a barometer is calibrated and added to the platform. Sensor fusion is done by two modified Extended Kalman Filters (EKF): one combining data provided by IMU and the other also including the information provided by GPS. A reliable estimation of the state variables is obtained. Three states representing systematic bias in the accelerometer measurements are also added to the EKF, which improves the inertial estimation of the position. A stable autonomous platform is achieved.