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Attitude Estimation And Maneuvering For Autonomous Obstacle Avoidance By Miniature Air Vehicles, James K. Hall
Attitude Estimation And Maneuvering For Autonomous Obstacle Avoidance By Miniature Air Vehicles, James K. Hall
Theses and Dissertations
Utilizing the Euler-Rodrigues symmetric parameters (attitude quaternion) to describe vehicle orientation, we develop a multiplicative, nonlinear (extended) variation of the Kalman filter (MEKF) to fuse data from low-cost sensors. The sensor suite is comprised of gyroscopes, accelerometers, and a GPS receiver. In contrast to the common approach of using the complete vehicle attitude as the quantities to be estimated, our filter states consist of the three components of an attitude error vector. In parallel with the time update of the attitude error estimate, we utilize the gyroscope measurements for the time propagation of the attitude quaternion. The accelerometer and the …
Vision-Assisted Control Of A Hovering Air Vehicle In An Indoor Setting, Neil G. Johnson
Vision-Assisted Control Of A Hovering Air Vehicle In An Indoor Setting, Neil G. Johnson
Theses and Dissertations
The quadrotor helicopter is a unique flying vehicle which uses the thrust from four motors to provide hover flight capability. The uncoupled nature of the longitudinal and lateral axes and its ability to support large payloads with respect to its size make it an attractive vehicle for autonomous vehicle research. In this thesis, the quadrotor is modeled based on first principles and a proportional-derivative control method is applied for attitude stabilization and position control. A unique means of using an optic flow sensor for velocity and position estimation in an indoor setting is presented with flight results. Reliable hover flight …