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Robust multi-sensor fusion for micro aerial vehicle navigation in GPS-degraded/denied environments
2014
2014 American Control Conference
State estimation for Micro Air Vehicles (MAVs) is challenging because sensing instrumentation carried on-board is severely limited by weight and power constraints. In addition, their use close to and inside structures and vegetation means that GPS signals can be degraded or all together absent. Here we present a navigation system suited for use on MAVs that seamlessly fuses any combination of GPS, visual odometry, inertial measurements, and/or barometric pressure. We focus on robustness against
doi:10.1109/acc.2014.6859341
dblp:conf/amcc/ChambersSYJNS14
fatcat:ezkvcqxfsfhq5k3uw44yquacge