A virtual odometer for a Quadrotor Micro Aerial Vehicle

Abeywardena, D; Kodagoda, S; Munasinghe, R; Dissanayake, G

A virtual odometer for a Quadrotor Micro Aerial Vehicle

Abeywardena, D Kodagoda, S

Munasinghe, R Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2011 Australasian Conference on Robotics and Automation, 2011
Issue Date:: 2011-12-01

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Field	Value	Language
dc.contributor.author	Abeywardena, D	en_US
dc.contributor.author	Kodagoda, S https://orcid.org/0000-0001-5175-9138	en_US
dc.contributor.author	Munasinghe, R	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2011-12-01	en_US
dc.identifier.citation	Proceedings of the 2011 Australasian Conference on Robotics and Automation, 2011	en_US
dc.identifier.isbn	9780980740424	en_US
dc.identifier.uri	http://hdl.handle.net/10453/19238
dc.description.abstract	This paper describes the synthesis and evaluation of a "virtual odometer" for a Quadrotor Micro Aerial Vehicle. Availability of a velocity estimate has the potential to enhance the accuracy of mapping, estimation and control algorithms used with quadrotors, increasing the effectiveness of their applications. As a result of the unique dynamic characteristics of the quadrotor, a dual axis accelerometer mounted parallel to the propeller plane provides measurements that are directly proportional to vehicle velocities in that plane. Exploiting this insight, we encapsulate quadrotor dynamic equations which relate acceleration, attitude and the aerodynamic propeller drag in an extended Kalman filter framework for the purpose of state estimation. The result is a drift free estimation of lateral and longitudinal components of translational velocity and roll and pitch components of attitude of the quadrotor. Real world data sets gathered from two different quadrotor platforms, together with ground truth data from a Vicon system, are used to evaluate the effectiveness of the proposed algorithm and demonstrate that drift free estimates for the velocity and attitude can be obtained.	en_US
dc.relation.ispartof	Proceedings of the 2011 Australasian Conference on Robotics and Automation	en_US
dc.title	A virtual odometer for a Quadrotor Micro Aerial Vehicle	en_US
dc.type	Conference Proceeding
utslib.for	090602 Control Systems, Robotics and Automation	en_US
dc.location.activity	Monash University, Melbourne	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

This paper describes the synthesis and evaluation of a "virtual odometer" for a Quadrotor Micro Aerial Vehicle. Availability of a velocity estimate has the potential to enhance the accuracy of mapping, estimation and control algorithms used with quadrotors, increasing the effectiveness of their applications. As a result of the unique dynamic characteristics of the quadrotor, a dual axis accelerometer mounted parallel to the propeller plane provides measurements that are directly proportional to vehicle velocities in that plane. Exploiting this insight, we encapsulate quadrotor dynamic equations which relate acceleration, attitude and the aerodynamic propeller drag in an extended Kalman filter framework for the purpose of state estimation. The result is a drift free estimation of lateral and longitudinal components of translational velocity and roll and pitch components of attitude of the quadrotor. Real world data sets gathered from two different quadrotor platforms, together with ground truth data from a Vicon system, are used to evaluate the effectiveness of the proposed algorithm and demonstrate that drift free estimates for the velocity and attitude can be obtained.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/19238