state estimation, quadrotor, multirotor
Multirotor helicopters are increasingly popular platforms in the robotics community. Making them fully autonomous requires accurate state estimation. We review an improved dynamic model for multirotor helicopters and analyze the observability properties of an estimator based on this model. The model allows better use of IMU data to facilitate accurate state estimates even when updates from a sensor measuring position become less frequent and less accurate. We demonstrate that the position update rate can be cut in half versus typical approaches while maintaining the same accuracy. We also find that velocity estimates are at least twice as accurate no matter what the position update rate.
Original Publication Citation
Macdonald, J., Leishman, R., Beard, R. and McLain, T. Analysis of an Improved IMU-based Observer for Multirotor Helicopters, Journal of Intelligent and Robotic Systems, DOI 10.1007/s10846-013-9835-5, May 2013.
BYU ScholarsArchive Citation
Macdonald, John Charles; Leishman, Robert C.; Beard, Randal W.; and McLain, Timothy W., "Analysis of an Improved IMU-based Observer for Multirotor Helicopters" (2013). Faculty Publications. 1517.
Ira A. Fulton College of Engineering and Technology
Electrical and Computer Engineering
The final publication is available at Springer via http://dx.doi.org/10.1007/s10846-013-9835-5
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