| dc.contributor.author | Cutler, Mark Johnson | |
| dc.contributor.author | Michini, Bernard J. | |
| dc.contributor.author | How, Jonathan P. | |
| dc.date.accessioned | 2013-10-17T18:40:29Z | |
| dc.date.available | 2013-10-17T18:40:29Z | |
| dc.date.issued | 2013-05 | |
| dc.identifier.isbn | 978-1-4799-0817-2 | |
| dc.identifier.isbn | 978-1-4799-0815-8 | |
| dc.identifier.isbn | 978-1-4799-0816-5 | |
| dc.identifier.issn | INSPEC Accession Number: 13679479 | |
| dc.identifier.uri | http://hdl.handle.net/1721.1/81416 | |
| dc.description.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. | en_US |
| dc.description.sponsorship | National Science Foundation (U.S.) (Graduate Research Fellowship under Grant No. 0645960) | en_US |
| dc.language.iso | en_US | |
| dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
| dc.relation.isversionof | http://dx.doi.org/10.1109/ICUAS.2013.6564807 | en_US |
| dc.rights | Creative Commons Attribution-Noncommercial-Share Alike 3.0 | en_US |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/3.0/ | en_US |
| dc.source | MIT web domain | en_US |
| dc.title | Lightweight infrared sensing for relative navigation of quadrotors | en_US |
| dc.type | Article | en_US |
| dc.identifier.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. | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Aerospace Controls Laboratory | en_US |
| dc.contributor.department | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics | en_US |
| dc.contributor.mitauthor | Cutler, Mark Johnson | en_US |
| dc.contributor.mitauthor | Michini, Bernard J. | en_US |
| dc.contributor.mitauthor | How, Jonathan P. | en_US |
| dc.relation.journal | 2013 International Conference on Unmanned Aircraft Systems (ICUAS) | en_US |
| dc.eprint.version | Author's final manuscript | en_US |
| dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
| eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
| dspace.orderedauthors | Cutler, Mark; Michini, Bernard; How, Jonathan P. | en_US |
| dc.identifier.orcid | https://orcid.org/0000-0001-8576-1930 | |
| dc.identifier.orcid | https://orcid.org/0000-0003-0776-7901 | |
| mit.license | OPEN_ACCESS_POLICY | en_US |
| mit.metadata.status | Complete | |
