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JRM Vol.28 No.6 pp. 878-886
doi: 10.20965/jrm.2016.p0878
(2016)

Paper:

State Estimation and Control of an Unmanned Air Vehicle from a Ground-Based 3D Laser Scanner

Ryan Arya Pratama and Akihisa Ohya

Graduate School of Systems and Information Engineering, University of Tsukuba
1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:
May 26, 2016
Accepted:
September 26, 2016
Published:
December 20, 2016
Keywords:
UAV, data fusion, control, 3D laser scanner
Abstract

State Estimation and Control of an Unmanned Air Vehicle from a Ground-Based 3D Laser Scanner

UAV state estimation from laser scanner

In this work, we present a system to estimate the state of and control an Unmanned Air Vehicle (UAV) from a ground-based 3D laser scanner. The main contributions of this work are on data fusion between a low-frequency 3D laser scanner with considerable delay and an on-board 6-DOF IMU, and on automatic position control of a UAV using state estimate obtained from the fusion. We measured laser delay using data from a manually controlled flight. We have devised a method to perform online estimation and compensation of accelerometer offset using delay-corrected laser measurement. We then use the UAV state estimation in a nested controller with a high-frequency velocity control inner loop and a low-frequency position control outer loop. We demonstrated the state estimation and control in a series of experiments on velocity control and position control, including a comparison between position control using fusion data and only laser data.

Cite this article as:
R. Pratama and A. Ohya, “State Estimation and Control of an Unmanned Air Vehicle from a Ground-Based 3D Laser Scanner,” J. Robot. Mechatron., Vol.28, No.6, pp. 878-886, 2016.
Data files:
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