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所属单位：自动化学院
发表刊物：Sensors
摘要：In this paper, a drag model-aided fault-tolerant state estimation method is presented for quadrotors. Firstly, the drag model accuracy was improved by modeling an angular rate related item and an angular acceleration related item, which are related with flight maneuver. Then the drag model, light detection and ranging (LIDAR), and inertial measurement unit (IMU) were fused based on the Federal Kalman filter frame. In the filter, the LIDAR estimation fault was detected and isolated, and the disturbance to the drag model was estimated and compensated. Some experiments were carried out, showing that the velocity and position estimation were improved compared with the traditional LIDAR/IMU fusion scheme. © 2019 by the authors. Licensee MDPI, Basel, Switzerland.
ISSN号：1424-8220
是否译文：否
发表时间：2019-10-01
合写作者：吕品,Wang, Bingqing,Liu, Shichao,F70206705
通讯作者：赖际舟