Real-Time Optimal States Estimation with Inertial and Delayed Visual Measurements for Unmanned Aerial Vehicles

• Published in: Sensors (Basel, Switzerland) Vol. 23; no. 22; p. 9074
• Main Authors: Sun, Xinxin, Zhang, Chi, Zou, Le, Li, Shanhong
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 09.11.2023
• Subjects: Algorithms; Cameras; data fusion; Drone aircraft; inertial sensors; Lasers; Measurement; Methods; motion estimation; Sensors; UAV; Unmanned aerial vehicles; Vehicles; Velocity; vision delay; United Kingdom

Motion estimation is a major issue in applications of Unmanned Aerial Vehicles (UAVs). This paper proposes an entire solution to solve this issue using information from an Inertial Measurement Unit (IMU) and a monocular camera. The solution includes two steps: visual location and multisensory data f...