TY - GEN
T1 - Robust nonlinear fusion of inertial and visual data for position, velocity and attitude estimation of UAV
AU - Cheviron, T.
AU - Hamel, T.
AU - Mahony, R.
AU - Baldwin, G.
PY - 2007
Y1 - 2007
N2 - This paper presents a coupled observer that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle. The observer is based on a non-linear complimentary filter framework and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in low-cost inertial measurement systems. Asymptotic stability of the observer estimates is proved as well as bounded energy of the observer error signals. Experimental data is provided for the proposed filter run on data obtained from an experiment involving a remotely controlled helicopter.
AB - This paper presents a coupled observer that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle. The observer is based on a non-linear complimentary filter framework and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in low-cost inertial measurement systems. Asymptotic stability of the observer estimates is proved as well as bounded energy of the observer error signals. Experimental data is provided for the proposed filter run on data obtained from an experiment involving a remotely controlled helicopter.
UR - http://www.scopus.com/inward/record.url?scp=36349031747&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363617
DO - 10.1109/ROBOT.2007.363617
M3 - Conference contribution
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2010
EP - 2016
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -