Balaji, Naveen (Indian Institute of Technology Kanpur), Kothari, Mangal (Indian Institute of Technology Kanpur), Abhishek, Abhishek (Indian Institute of Technology Kanpur)

GPS Denied Localization and Magnetometer-Free Yaw Estimation for Multi-Rotor UAVs

Scheduled for presentation during the Regular Session "Sensor Fusion" (ThC1), Thursday, September 3, 2020, 17:00−17:20, Macedonia Hall

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

This paper presents a range-based localization scheme for multi-rotor systems in GPS denied environments and proposes a novel methodology to estimate yaw attitude. The attitude and position are estimated using accelerometer, gyroscope, and range information with Extended Information Filter (EIF). The heading estimation is incorporated without the aid of magnetic sensors. All family of Gaussian filters requires the correct noise parameters for convergence and accurate estimation. We use an optimization technique for tuning the estimator's parameter (covariance matrices). Particle-Swarm Optimization (PSO) method is used for tuning the noise (covariance matrices) in the filter with the aid of ground truth in the initial flight. The effectiveness of tuned EIF is validated on the quadcopter platform with different environments, which shows superior performance compared to the manually tunned noise parameter.