VTOL UAV optically aided indoor attitude estimation with a complementary filter for the special orthogonal group SO(3)

Krzysztof Sibilski , Marcin Kmiecik

Abstract

This paper presents a practical implementation of a complementary filter for 3D attitude estimation in an indoor setting. The structure of the filter is chosen basing on design principles described in Mahony's1 et al. papers. It demonstrates the basic foundations of a complementary filter and proposes a simple and concise implementation for sensor fusion of data collected using an IMU and a Hokuyo URG 04LX laser scanner. Experimental results are shown for a quadrotor UAV, navigating through an indoor environment - a video presenting the experiment is referenced. © 2013 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

Author Krzysztof Sibilski (FPAE / IAAM)
Krzysztof Sibilski,,
- The Institute of Aeronautics and Applied Mechanics
, Marcin Kmiecik - [Wrocław University of Science and Technology]
Marcin Kmiecik,,
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Book 51st AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition 2013, 2013, ISBN 978-162410181-6
Languageen angielski
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 10.0, 03-02-2020, BookChapterMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 03-02-2020, BookChapterMatConfByConferenceseries
Publication indicators Scopus Citations = 1; WoS Citations = 1
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