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.


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    Title :

    Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing


    Contributors:


    Publication date :

    2021-10-01


    Size :

    2880644 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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