Micro Aerial Vehicle Yaw Estimation and Localization Based on Ultrasonic Sensors in Indoor Environment

This paper addresses the problem of yaw angle estimation and indoor positioning of micro aerial vehicle (MAV) under GPS-free environment and complex electromagnetic interference. A distance-ranging-based approach is proposed to localize MAV. The relation of ultrasonic sensors measurements and MAV po...

Full description

Saved in:
Bibliographic Details
Published in2020 39th Chinese Control Conference (CCC) pp. 3433 - 3438
Main Authors Xu, Jiwen, Yang, Lingyu, Xu, Jiangpeng, Feng, Xiaoke, Zhang, Jing
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2020
Subjects
Acceleration
Acoustics
EKF algorithm
Estimation
indoor localization
Mathematical model
MAV yaw estimation
Robot sensing systems
Sensor systems
Online AccessGet full text

Cover

More Information
Summary:This paper addresses the problem of yaw angle estimation and indoor positioning of micro aerial vehicle (MAV) under GPS-free environment and complex electromagnetic interference. A distance-ranging-based approach is proposed to localize MAV. The relation of ultrasonic sensors measurements and MAV position as well as yaw angle is given by establishing a nonlinear, implicit, and piecewise continuous model. Thus, the extended Kalman filter (EKF) is applied to estimate the MAV position and yaw angle according to ultrasonic sensors and inertial measurement unit. Furthermore, a jump filter is introduced to compensate the mutation caused by discontinuity of the model. Simulations are presented and the results show the effectiveness of the algorithm.
ISSN:2161-2927
DOI:10.23919/CCC50068.2020.9188825