Optic Flow Based State Estimation for an Indoor Micro Air Vehicle

Mark Verveld, Qi-Ping Chu, Christophe De Wagter, J. A. (Bob) Mulder
2010 AIAA Guidance, Navigation, and Control Conference   unpublished
This work addresses the problem of indoor state estimation for autonomous flying vehicles with an optic flow approach. The paper discusses a sensor configuration using six optic flow sensors of the computer mouse type augmented by a three-axis accelerometer to estimate velocity, rotation, attitude and viewing distances. It is shown that the problem is locally observable for a moving vehicle. A Kalman filter is used to extract these states from the sensor data. The resulting approach is tested
more » ... pproach is tested in a simulation environment evaluating the performance of three Kalman filter algorithms under various noise conditions. Finally, a prototype of the sensor hardware has been built and tested in a laboratory setup.
doi:10.2514/6.2010-8209 fatcat:wigbknchqbcbfdmouk6tgnwkni