基于观测器的视惯性数据融合无人机姿态估计(3)

2019 International Conference on Advanced Electrical Engineering (ICAEE) Pub Date : 2019-11-01 DOI:10.1109/ICAEE47123.2019.9014785

A. Khaldi, C. Bensalah, Amal Choukchou Braham, B. Cherki

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引用次数: 1

摘要

本文提出了一种基于观测器的视觉和惯性数据融合方法。使用光流技术获取视觉数据，其中使用Lucas和Kanade方法来估计在场景中选择的代表线的点(像素)的位移。在SO(3)中，计算每条线的方向矢量，并结合陀螺仪数据与观测器进行数据融合，以估计无人机在三维空间中的姿态。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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UAV Attitude Estimation using Visual and Inertial Data Fusion based on Observer in SO(3)

In this paper, a visual and inertial data fusion using an observer in SO (3) is presented. Visual data are acquired using Optical flow technique where the Lucas and Kanade method is used to estimate the displacement of points (pixels) representing lines selected in a scene. The orientation vectors for each line are computed and combined with the gyrometer data for data fusion with an observer in SO (3) to estimate the attitude of an Unmanned Aerial Vehicle UAV in 3D space.

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2019 International Conference on Advanced Electrical Engineering (ICAEE)

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