{"title":"自主四旋翼飞行器室内飞行运动估计","authors":"Daniel Wunschel, Sven Lange, P. Protzel","doi":"10.1109/SSD.2012.6198060","DOIUrl":null,"url":null,"abstract":"One of the basic requirements for performing an autonomous flight with a Micro Aerial Vehicle (MAV) is to reliably sense the motion relative to its environment. This paper presents a motion estimator for an autonomous quadrotor in indoor environments, without the need for information from an external tracking system. As main sensor a simple, low-cost optical-flow sensor chip is used. Hence, the estimator needs only few resources for post-processing and is intended to be suitable for running on a simple microcontroller.","PeriodicalId":425823,"journal":{"name":"International Multi-Conference on Systems, Sygnals & Devices","volume":"48 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Motion estimation for autonomous quadrocopter indoor flight\",\"authors\":\"Daniel Wunschel, Sven Lange, P. Protzel\",\"doi\":\"10.1109/SSD.2012.6198060\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"One of the basic requirements for performing an autonomous flight with a Micro Aerial Vehicle (MAV) is to reliably sense the motion relative to its environment. This paper presents a motion estimator for an autonomous quadrotor in indoor environments, without the need for information from an external tracking system. As main sensor a simple, low-cost optical-flow sensor chip is used. Hence, the estimator needs only few resources for post-processing and is intended to be suitable for running on a simple microcontroller.\",\"PeriodicalId\":425823,\"journal\":{\"name\":\"International Multi-Conference on Systems, Sygnals & Devices\",\"volume\":\"48 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-03-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Multi-Conference on Systems, Sygnals & Devices\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SSD.2012.6198060\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Multi-Conference on Systems, Sygnals & Devices","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSD.2012.6198060","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Motion estimation for autonomous quadrocopter indoor flight
One of the basic requirements for performing an autonomous flight with a Micro Aerial Vehicle (MAV) is to reliably sense the motion relative to its environment. This paper presents a motion estimator for an autonomous quadrotor in indoor environments, without the need for information from an external tracking system. As main sensor a simple, low-cost optical-flow sensor chip is used. Hence, the estimator needs only few resources for post-processing and is intended to be suitable for running on a simple microcontroller.
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