Chapter 5

Data Fusion for UAV Localization


The need for accurate state estimates often arises in control systems applications. In this chapter we present an enhanced onboard pose estimation based on an Extended Kalman Filter (EKF) for quadrotors in GPS (Global Positioning System)-denied environments. The EKF algorithm is implemented with the nonlinear model of the vehicle to fuse onboard measurements from an IMU (Inertial Measurement Unit), an ultrasonic sensor, and a vision system which consists of a camera-based optical flow algorithm. Several experiments are carried out to evaluate the performance of the proposed estimation scheme. The estimator performance is also compared with the measurements coming from an indoor positioning ...

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