Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator

Institute of Electrical and Electronic Engineering
Publication Type:
Journal Article
IEEE Robotics and Automation Magazine, 2013, 20 (4), pp. 32 - 39
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In this article, we presented a novel state estimator for quadrotor MAVs, where clear improvements in estimates stemming from the incorporation of quadrotor-specific dynamical constraints were demonstrated. Our design is based on an EKF and is capable of estimating both roll and pitch angles of the attitude, in addition to X and Y components of the body frame translational velocities within a bounded error. This estimator is applied to inertial data gathered from real-world flight experiments. The resulting attitude and velocity estimates obtained match closely with the ground truth and are drift free.
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