Unmanned aerial vehicle speed estimation via nonlinear adaptive observers
K Benzemrane, GL Santosuosso… - 2007 American Control …, 2007 - ieeexplore.ieee.org
K Benzemrane, GL Santosuosso, G Damm
2007 American Control Conference, 2007•ieeexplore.ieee.orgIn this paper the problem of the speed estimation of an unmanned aerial vehicle is
addressed, when acceleration, the angles and the angular speeds are available for
measurement. We focus our analysis on a prototype drone-a 4 rotors helicopter robot-which
is not equipped with GPS related devices and relies on the inertial measurement unit (IMU)
only. A global exponential solution to this open problem is provided in the framework of
adaptive observation theory when exact measurements are available. A modified estimator …
addressed, when acceleration, the angles and the angular speeds are available for
measurement. We focus our analysis on a prototype drone-a 4 rotors helicopter robot-which
is not equipped with GPS related devices and relies on the inertial measurement unit (IMU)
only. A global exponential solution to this open problem is provided in the framework of
adaptive observation theory when exact measurements are available. A modified estimator …
In this paper the problem of the speed estimation of an unmanned aerial vehicle is addressed, when acceleration, the angles and the angular speeds are available for measurement. We focus our analysis on a prototype drone - a 4 rotors helicopter robot- which is not equipped with GPS related devices and relies on the inertial measurement unit (IMU) only. A global exponential solution to this open problem is provided in the framework of adaptive observation theory when exact measurements are available. A modified estimator is presented to enhance robustness in velocity estimation in the realistic case of noisy acceleration measurements.
ieeexplore.ieee.org