Optic Flow Based State Estimation for an Indoor Micro Air Vehicle

Optic Flow Based State Estimation for an Indoor Micro Air Vehicle

Verveld, M.J.
Chu, Q.P.
De Wagter, C.
Mulder, J.A.

Aerospace Engineering

Control & Operations

2010-08-02

This work addresses the problem of indoor state estimation for autonomous flying vehicles with an optic flow approach. The paper discusses a sensor configuration using six optic flow sensors of the computer mouse type augmented by a three-axis accelerometer to estimate velocity, rotation, attitude and viewing distances. It is shown that the problem is locally observable for a moving vehicle. A Kalman filter is used to extract these states from the sensor data. The resulting approach is tested in a simulation environment evaluating the performance of three Kalman filter algorithms under various noise conditions. Finally, a prototype of the sensor hardware has been built and tested in a laboratory setup.

http://resolver.tudelft.nl/uuid:2463ebfa-0fc9-4eb4-aaf7-8d9368535c83

https://doi.org/10.2514/6.2010-8209

American Institute of Aeronautics and Astronautics (AIAA)

978-1-60086-962-4

AIAA Guidance, Navigation, and Control Conference, Toronto, Canada, 2-5 August 2010; AIAA 2010-8209

Institutional Repository

conference paper

© 2010 The Author(s)