State Estimate Recovery For Autonomous Quadcopters
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)(2018)
摘要
A method for recovery from the complete loss of the state estimate is presented for autonomous quadcopters. Given an aerodynamic force model, the only measurements used to reinitialize the state estimate by means of a bank of extended Kalman filters are the angular rate and linear acceleration measurements of an IMU. The method is integrated within a complete recovery logic on a quadcopter platform and experimentally evaluated.
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关键词
state estimate recovery,autonomous quadcopters,aerodynamic force model,extended Kalman filters,linear acceleration measurements,complete recovery logic,quadcopter platform,IMU
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