Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Mechanical Engineering
A Multiplicative Extended Kalman Filter For Relative Rotorcraft Navigation, Robert C. Leishman, Timothy W. Mclain
A Multiplicative Extended Kalman Filter For Relative Rotorcraft Navigation, Robert C. Leishman, Timothy W. Mclain
Faculty Publications
In this article we detail the fundamentals of a new approach to GPS-denied navigation for aerial vehicles in confined indoor environments. We depart from the common practice of navigating within a globally referenced map, and instead keep the position and yaw states relative to the current node in the map. The approach combines elements of graph SLAM with a multiplicative extended Kalman filter (MEKF). The filter provides quality state estimates at a fast rate and a graph SLAM algorithm maintains a pose graph. We provide specific details for the relative MEKF. We verify the relative estimation approach with hardware flight …