Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing (CROSBI ID 710648)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Prkačin, Vicko ; Palunko, Ivana ; Petrović, Ivan
engleski
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.
estimation ; suspended payload ; Extended Kalman Filter
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Podaci o prilogu
9571038
2021.
objavljeno
10.1109/airpharo52252.2021.9571038
Podaci o matičnoj publikaciji
Institute of Electrical and Electronics Engineers (IEEE)
978-1-6654-3390-1
Podaci o skupu
Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
predavanje
04.10.2021-05.10.2021
Biograd na Moru, Hrvatska