PlumX Metrics
Embed PlumX Metrics

Optic flow based state estimation for an indoor micro air vehicle

AIAA Guidance, Navigation, and Control Conference
2010
  • 6
    Citations
  • 0
    Usage
  • 11
    Captures
  • 0
    Mentions
  • 0
    Social Media
Metric Options:   Counts1 Year3 Year

Metrics Details

  • Citations
    6
    • Citation Indexes
      6
  • Captures
    11

Conference Paper Description

This work addresses the problem of indoor state estimation for autonomous flying vehicles with an optic flow approach. The paper discusses a sensor configuration using six optic flow sensors of the computer mouse type augmented by a three-axis accelerometer to estimate velocity, rotation, attitude and viewing distances. It is shown that the problem is locally observable for a moving vehicle. A Kalman filter is used to extract these states from the sensor data. The resulting approach is tested in a simulation environment evaluating the performance of three Kalman filter algorithms under various noise conditions. Finally, a prototype of the sensor hardware has been built and tested in a laboratory setup. Copyright © 2010 by M. J. Verveld.

Bibliographic Details

Mark Verveld; Qi-Ping Chu; Christophe De Wagter; J. A. (Bob) Mulder

American Institute of Aeronautics and Astronautics (AIAA)

Engineering

Provide Feedback

Have ideas for a new metric? Would you like to see something else here?Let us know