Design and implementation of sensor data fusion for an autonomous quadrotor
Resumen:
This paper describes the design and integration of the instrumentation and sensor fusion that is used to allow the autonomous flight of a quadrotor. A comercial frame is used, a mathematical model for the quadrotor is developed and its parameters determined from the characterization of the unit. A 9 degrees of freedom Inertial Measurement Unit (IMU) equipped with a barometer is calibrated and added to the platform. Sensor fusion is done by two modified Extended Kalman Filters (EKF): one combining data provided by IMU and the other also including the information provided by GPS. A reliable estimation of the state variables is obtained. Three states representing systematic bias in the accelerometer measurements are also added to the EKF, which improves the inertial estimation of the position. A stable autonomous platform is achieved
| 2014 | |
|
Global Positioning System Accelerometers Mathematical model State estimation Kalman filters Equations Sistemas y Control |
|
| Inglés | |
| Universidad de la República | |
| COLIBRI | |
| https://hdl.handle.net/20.500.12008/41832 | |
| Acceso abierto | |
| Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| _version_ | 1807522940027142144 |
|---|---|
| author | Paternain, Santiago |
| author2 | Rosa, Rodrigo Tailanian, Matias Canetti, Rafael |
| author2_role | author author author |
| author_facet | Paternain, Santiago Rosa, Rodrigo Tailanian, Matias Canetti, Rafael |
| author_role | author |
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| collection | COLIBRI |
| dc.creator.none.fl_str_mv | Paternain, Santiago Rosa, Rodrigo Tailanian, Matias Canetti, Rafael |
| dc.date.accessioned.none.fl_str_mv | 2023-12-11T19:57:58Z |
| dc.date.available.none.fl_str_mv | 2023-12-11T19:57:58Z |
| dc.date.issued.es.fl_str_mv | 2014 |
| dc.date.submitted.es.fl_str_mv | 20231211 |
| dc.description.abstract.none.fl_txt_mv | This paper describes the design and integration of the instrumentation and sensor fusion that is used to allow the autonomous flight of a quadrotor. A comercial frame is used, a mathematical model for the quadrotor is developed and its parameters determined from the characterization of the unit. A 9 degrees of freedom Inertial Measurement Unit (IMU) equipped with a barometer is calibrated and added to the platform. Sensor fusion is done by two modified Extended Kalman Filters (EKF): one combining data provided by IMU and the other also including the information provided by GPS. A reliable estimation of the state variables is obtained. Three states representing systematic bias in the accelerometer measurements are also added to the EKF, which improves the inertial estimation of the position. A stable autonomous platform is achieved |
| dc.description.es.fl_txt_mv | Trabajo aceptado en International Instrumentation and Measurement Technology Conference (I2MTC), Montevideo, Uruguay, 12-15 may., 2014. |
| dc.identifier.citation.es.fl_str_mv | Tailanián, M, Paternain, S. Rosa, R, Canetti, R. "Design and implementation of sensor data fusion for an autonomous quadrotor" Publicado en: Proceedings of the IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Proceedings, Montevideo, Uruguay, 12-15 may., 2014, pp. 1431-1436, doi: 10.1109/I2MTC.2014.6860982. |
| dc.identifier.uri.none.fl_str_mv | https://hdl.handle.net/20.500.12008/41832 |
| dc.language.iso.none.fl_str_mv | en eng |
| dc.rights.license.none.fl_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:COLIBRI instname:Universidad de la República instacron:Universidad de la República |
| dc.subject.es.fl_str_mv | Global Positioning System Accelerometers Mathematical model State estimation Kalman filters Equations |
| dc.subject.other.es.fl_str_mv | Sistemas y Control |
| dc.title.none.fl_str_mv | Design and implementation of sensor data fusion for an autonomous quadrotor |
| dc.type.es.fl_str_mv | Ponencia |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/conferenceObject |
| dc.type.version.none.fl_str_mv | info:eu-repo/semantics/publishedVersion |
| description | Trabajo aceptado en International Instrumentation and Measurement Technology Conference (I2MTC), Montevideo, Uruguay, 12-15 may., 2014. |
| eu_rights_str_mv | openAccess |
| format | conferenceObject |
| id | COLIBRI_9c7c145d6648fdf19a5f1a679fcea890 |
| identifier_str_mv | Tailanián, M, Paternain, S. Rosa, R, Canetti, R. "Design and implementation of sensor data fusion for an autonomous quadrotor" Publicado en: Proceedings of the IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Proceedings, Montevideo, Uruguay, 12-15 may., 2014, pp. 1431-1436, doi: 10.1109/I2MTC.2014.6860982. |
| instacron_str | Universidad de la República |
| institution | Universidad de la República |
| instname_str | Universidad de la República |
| language | eng |
| language_invalid_str_mv | en |
| network_acronym_str | COLIBRI |
| network_name_str | COLIBRI |
| oai_identifier_str | oai:colibri.udelar.edu.uy:20.500.12008/41832 |
| publishDate | 2014 |
| reponame_str | COLIBRI |
| repository.mail.fl_str_mv | mabel.seroubian@seciu.edu.uy |
| repository.name.fl_str_mv | COLIBRI - Universidad de la República |
| repository_id_str | 4771 |
| rights_invalid_str_mv | Licencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0) |
| spelling | 2023-12-11T19:57:58Z2023-12-11T19:57:58Z201420231211Tailanián, M, Paternain, S. Rosa, R, Canetti, R. "Design and implementation of sensor data fusion for an autonomous quadrotor" Publicado en: Proceedings of the IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Proceedings, Montevideo, Uruguay, 12-15 may., 2014, pp. 1431-1436, doi: 10.1109/I2MTC.2014.6860982.https://hdl.handle.net/20.500.12008/41832Trabajo aceptado en International Instrumentation and Measurement Technology Conference (I2MTC), Montevideo, Uruguay, 12-15 may., 2014.This paper describes the design and integration of the instrumentation and sensor fusion that is used to allow the autonomous flight of a quadrotor. A comercial frame is used, a mathematical model for the quadrotor is developed and its parameters determined from the characterization of the unit. A 9 degrees of freedom Inertial Measurement Unit (IMU) equipped with a barometer is calibrated and added to the platform. Sensor fusion is done by two modified Extended Kalman Filters (EKF): one combining data provided by IMU and the other also including the information provided by GPS. A reliable estimation of the state variables is obtained. Three states representing systematic bias in the accelerometer measurements are also added to the EKF, which improves the inertial estimation of the position. A stable autonomous platform is achievedMade available in DSpace on 2023-12-11T19:57:58Z (GMT). No. of bitstreams: 5 PRTC14.pdf: 1992962 bytes, checksum: 9a024244ba4c1d036db5ffd94365595c (MD5) license_text: 21936 bytes, checksum: 9833653f73f7853880c94a6fead477b1 (MD5) license_url: 49 bytes, checksum: 4afdbb8c545fd630ea7db775da747b2f (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) license.txt: 4244 bytes, checksum: 528b6a3c8c7d0c6e28129d576e989607 (MD5) Previous issue date: 2014enengLas obras depositadas en el Repositorio se rigen por la Ordenanza de los Derechos de la Propiedad Intelectual de la Universidad De La República. (Res. Nº 91 de C.D.C. de 8/III/1994 – D.O. 7/IV/1994) y por la Ordenanza del Repositorio Abierto de la Universidad de la República (Res. Nº 16 de C.D.C. de 07/10/2014)info:eu-repo/semantics/openAccessLicencia Creative Commons Atribución - No Comercial - Sin Derivadas (CC - By-NC-ND 4.0)Global Positioning SystemAccelerometersMathematical modelState estimationKalman filtersEquationsSistemas y ControlDesign and implementation of sensor data fusion for an autonomous quadrotorPonenciainfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionreponame:COLIBRIinstname:Universidad de la Repúblicainstacron:Universidad de la RepúblicaPaternain, SantiagoRosa, RodrigoTailanian, MatiasCanetti, RafaelSistemas y 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- Universidad de la Repúblicafalse |
| spellingShingle | Design and implementation of sensor data fusion for an autonomous quadrotor Paternain, Santiago Global Positioning System Accelerometers Mathematical model State estimation Kalman filters Equations Sistemas y Control |
| status_str | publishedVersion |
| title | Design and implementation of sensor data fusion for an autonomous quadrotor |
| title_full | Design and implementation of sensor data fusion for an autonomous quadrotor |
| title_fullStr | Design and implementation of sensor data fusion for an autonomous quadrotor |
| title_full_unstemmed | Design and implementation of sensor data fusion for an autonomous quadrotor |
| title_short | Design and implementation of sensor data fusion for an autonomous quadrotor |
| title_sort | Design and implementation of sensor data fusion for an autonomous quadrotor |
| topic | Global Positioning System Accelerometers Mathematical model State estimation Kalman filters Equations Sistemas y Control |
| url | https://hdl.handle.net/20.500.12008/41832 |
