Lightweight infrared sensing for relative navigation of quadrotors
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How_Lightweight infrared.pdf
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628.57 KB
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Adobe PDF
Checksum (MD5)
70230f19b8d6702e1d6401f042a0b6cd
Author(s)
Cutler, Mark Johnson
Michini, Bernard J.
How, Jonathan P.
Date Issued
May 2013
Journal
2013 International Conference on Unmanned Aircraft Systems (ICUAS)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Cutler, Mark, Bernard Michini, and Jonathan P. How. “Lightweight infrared sensing for relative navigation of quadrotors.” In 2013 International Conference on Unmanned Aircraft Systems (ICUAS), 28-31 May 2013, Atlanta, GA. pp. 1156-1164. Institute of Electrical and Electronics Engineers, 2013.
Version
Author's final manuscript
Abstract
A lightweight solution for estimating position and velocity relative to a known marker is presented. The marker consists of three infrared (IR) LEDs in a fixed pattern. Using an IR camera with a 100 Hz update rate, the range and bearing to the marker are calculated. This information is then fused with inertial sensor information to produce state estimates at 1 kHz using a sigma point Kalman filter. The computation takes place on a 14 gram custom autopilot, yielding a lightweight system for generating high-rate relative state information. The estimation scheme is compared to data recorded with a motion capture system.
MIT Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1109/ICUAS.2013.6564807
