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A Drag Model-LIDAR-IMU Fault-Tolerance Fusion Method for Quadrotors

In this paper, a drag model-aided fault-tolerant state estimation method is presented for quadrotors. Firstly, the drag model accuracy was improved by modeling an angular rate related item and an angular acceleration related item, which are related with flight maneuver. Then the drag model, light de...

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Detalles Bibliográficos
Autores principales: Lyu, Pin, Wang, Bingqing, Lai, Jizhou, Liu, Shichao, Li, Zhimin
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6806240/
https://www.ncbi.nlm.nih.gov/pubmed/31597280
http://dx.doi.org/10.3390/s19194337
Descripción
Sumario:In this paper, a drag model-aided fault-tolerant state estimation method is presented for quadrotors. Firstly, the drag model accuracy was improved by modeling an angular rate related item and an angular acceleration related item, which are related with flight maneuver. Then the drag model, light detection and ranging (LIDAR), and inertial measurement unit (IMU) were fused based on the Federal Kalman filter frame. In the filter, the LIDAR estimation fault was detected and isolated, and the disturbance to the drag model was estimated and compensated. Some experiments were carried out, showing that the velocity and position estimation were improved compared with the traditional LIDAR/IMU fusion scheme.