基于飞机惯性传感的载荷状态估计扩展卡尔曼滤波

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI:10.1109/AIRPHARO52252.2021.9571038

Vicko Prkačin, Ivana Palunko, I. Petrović

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引用次数: 2

摘要

本文考虑了一种悬浮载荷的飞行器，提出了一种用于载荷状态估计的扩展卡尔曼滤波器。该滤波器基于导出的系统动力学，仅依赖于板载IMU测量。通过数值模拟和实验验证了该方法的有效性。

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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Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing

In this paper we consider an aerial vehicle transporting a suspended payload and propose an Extended Kalman filter for payload state estimation. The filter is based on derived system dynamics and relies solely on onboard IMU measurements. Effectiveness of the method is verified in numerical simulations and experimentally.

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来源期刊

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)

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