Lightweight infrared sensing for relative navigation of quadrotors

Author(s)
Cutler, Mark Johnson; Michini, Bernard J.; How, Jonathan P.
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Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/
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Abstract
A lightweight solution for estimating position and velocity relative to a known marker is presented. The marker consists of three infrared (IR) LEDs in a fixed pattern. Using an IR camera with a 100 Hz update rate, the range and bearing to the marker are calculated. This information is then fused with inertial sensor information to produce state estimates at 1 kHz using a sigma point Kalman filter. The computation takes place on a 14 gram custom autopilot, yielding a lightweight system for generating high-rate relative state information. The estimation scheme is compared to data recorded with a motion capture system.
Date issued
2013-05
URI
http://hdl.handle.net/1721.1/81416
Department
Massachusetts Institute of Technology. Aerospace Controls Laboratory; Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Journal
2013 International Conference on Unmanned Aircraft Systems (ICUAS)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Cutler, Mark, Bernard Michini, and Jonathan P. How. “Lightweight infrared sensing for relative navigation of quadrotors.” In 2013 International Conference on Unmanned Aircraft Systems (ICUAS), 28-31 May 2013, Atlanta, GA. pp. 1156-1164. Institute of Electrical and Electronics Engineers, 2013.
Version: Author's final manuscript
ISBN
978-1-4799-0817-2
978-1-4799-0815-8
978-1-4799-0816-5
ISSN
INSPEC Accession Number: 13679479
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