This paper presents a data fusion algorithm by means of a particle filter (PF) for estimate the position of a quadrotor equipped with multiple sensors. A global positioning system (GPS) is considered for position measurement in a loosely coupled scheme, velocity can be obtained from an optic flow sensor, whilst an inertial measurement unit (IMU) can provide orientation and angular rate measurements. Simulations were carried out, where real noise from a not expensive GPS is added to the simulated position to test the proposed algorithm.


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    Title :

    Quadrotors data fusion using a particle filter


    Contributors:
    Mercado, D. A. (author) / Castillo, P. (author) / Lozano, R. (author)


    Publication date :

    2014-05-01


    Size :

    552594 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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