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Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV
An extended Kalman filter (EKF) is developed on the special Euclidean group,
SE(3) for geometric control of a quadrotor UAV. It is obtained by performing an
extensive linearization on SE(3) to estimate the state of the quadrotor from
noisy measurements. Proposed estimator considers all the coupling effects
between rotational and translational dynamics, and it is developed in a
coordinate-free fashion. The desirable features of the proposed EKF are
illustrated by numerical examples and experimental results for several
scenarios. The proposed estimation scheme on SE(3) has been unprecedented and
these results can be particularly useful for aggressive maneuvers in GPS denied
environments or in situations where parts of onboard sensors fail.Comment: arXiv admin note: text overlap with arXiv:1304.6765, arXiv:1411.298
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