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Pregled bibliografske jedinice broj: 1210395

Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments

Markovic, Lovro; Kovac, Marin; Milijas, Robert; Car, Marko; Bogdan, Stjepan
Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments // 2022 International Conference on Unmanned Aircraft Systems (ICUAS 2022)
Dubrovnik, Hrvatska: Institute of Electrical and Electronics Engineers (IEEE), 2022. str. 184-190 doi:10.1109/icuas54217.2022.9836124 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)

CROSBI ID: 1210395 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments

Autori
Markovic, Lovro ; Kovac, Marin ; Milijas, Robert ; Car, Marko ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Skup
2022 International Conference on Unmanned Aircraft Systems (ICUAS 2022)

Mjesto i datum
Dubrovnik, Hrvatska, 21.06.2022. - 24.06.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Simultaneous localization and mapping , Magnetometers , Magnetic separation , Position control , Position measurement , Autonomous aerial vehicles , Motion capture

Sažetak
This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliable. The proposed solution is to use an error state extended Kalman filter (ES -EKF) in the context of multi-sensor fusion. Its implementation is adapted to fuse measurements from multiple sensor sources and the state model is extended to account for sensor drift and possible calibration inaccuracies. Experimental validation is performed by fusing inertial measurement unit (IMU) data obtained from the PixHawk 2.1 flight controller with pose measurements from light detection and ranging (LiDAR) Cartographer SLAM, visual odometry provided by the Intel T265 camera and position measurements from the Pozyx ultra-wideband (UWB) indoor positioning system. The estimated odometry from ES-EKF is validated against ground truth data from the Optitrack motion capture system and its use in a position control loop to stabilize the UAV is demonstrated.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA

Profili:

Avatar Url Stjepan Bogdan (autor)

Avatar Url Marko Car (autor)

Avatar Url Robert Milijaš (autor)

Avatar Url Marina Kovač (autor)

Avatar Url Lovro Marković (autor)

Poveznice na cjeloviti tekst rada:

doi ieeexplore.ieee.org

Citiraj ovu publikaciju:

Markovic, Lovro; Kovac, Marin; Milijas, Robert; Car, Marko; Bogdan, Stjepan
Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments // 2022 International Conference on Unmanned Aircraft Systems (ICUAS 2022)
Dubrovnik, Hrvatska: Institute of Electrical and Electronics Engineers (IEEE), 2022. str. 184-190 doi:10.1109/icuas54217.2022.9836124 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Markovic, L., Kovac, M., Milijas, R., Car, M. & Bogdan, S. (2022) Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments. U: 2022 International Conference on Unmanned Aircraft Systems (ICUAS 2022) doi:10.1109/icuas54217.2022.9836124.
@article{article, author = {Markovic, Lovro and Kovac, Marin and Milijas, Robert and Car, Marko and Bogdan, Stjepan}, year = {2022}, pages = {184-190}, DOI = {10.1109/icuas54217.2022.9836124}, keywords = {Simultaneous localization and mapping , Magnetometers , Magnetic separation , Position control , Position measurement , Autonomous aerial vehicles , Motion capture}, doi = {10.1109/icuas54217.2022.9836124}, title = {Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments}, keyword = {Simultaneous localization and mapping , Magnetometers , Magnetic separation , Position control , Position measurement , Autonomous aerial vehicles , Motion capture}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Dubrovnik, Hrvatska} }
@article{article, author = {Markovic, Lovro and Kovac, Marin and Milijas, Robert and Car, Marko and Bogdan, Stjepan}, year = {2022}, pages = {184-190}, DOI = {10.1109/icuas54217.2022.9836124}, keywords = {Simultaneous localization and mapping , Magnetometers , Magnetic separation , Position control , Position measurement , Autonomous aerial vehicles , Motion capture}, doi = {10.1109/icuas54217.2022.9836124}, title = {Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments}, keyword = {Simultaneous localization and mapping , Magnetometers , Magnetic separation , Position control , Position measurement , Autonomous aerial vehicles , Motion capture}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Dubrovnik, Hrvatska} }

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