Optical Flow Based State Estimation for an Indoor Micro Aerial Vehicle

Optical Flow Based State Estimation for an Indoor Micro Aerial Vehicle

Verveld, M.J.

Mulder, J.A. (mentor)
Chu, Q.P. (mentor)
de Wagter, C. (mentor)

Aerospace Engineering

Control & Simulation

2009-08-31

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. Paper published: Verveld, M.J., Chu, Q.P., De Wagter, C. and Mulder, J.A. “Optic Flow Based State Estimation for an Indoor Micro Air Vehicle” AIAA Guidance, Navigation, and Control Conference, August 2010, Toronto, Canada AIAA 2010-8209, DOI: 10.2514/6.2010-8209

optical flow
sensor fusion
Unscented Kalman filter
bio-inspired flight

http://resolver.tudelft.nl/uuid:fe5ea73c-a85b-4a4b-b5d5-fc01d29b2113

Student theses

master thesis

(c) 2009 Verveld, M.J.