Sensors, Vol. 19, Pages 4337: A Drag Model-LIDAR-IMU Fault-Tolerance Fusion Method for Quadrotors

Sensors, Vol. 19, Pages 4337: A Drag Model-LIDAR-IMU Fault-Tolerance Fusion Method for Quadrotors
Sensors doi: 10.3390/s19194337
Authors:
Pin Lyu
Bingqing Wang
Jizhou Lai
Shichao Liu
Zhimin Li

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.

Source: Sensors - October 7, 2019 Category: Biotechnology Authors: Pin Lyu Bingqing Wang Jizhou Lai Shichao Liu Zhimin Li Tags: Article Source Type: research