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2013 | OriginalPaper | Chapter

7. Combining Stereo Imaging, Inertial and Altitude Sensing Systems for the Quad-Rotor

Authors : Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard

Published in: Quad Rotorcraft Control

Publisher: Springer London

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Abstract

This chapter is devoted to the design and implementation of a stereo-vision, inertial and altitude sensing system for a quad-rotor. The objective is to enable the vehicle to autonomously perform take-off, relative positioning, navigation and landing when evolving in unstructured, indoors, and GPS-denied environments. A real-time comparison study between a Luenberger observer, a Kalman filter and a complementary filter is also addressed, with the purpose of validating the most effective approach for combining the different sensing technologies.

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previous chapter Vision-Based Control of a Quad-Rotor UAV
next chapter Conclusions and Future Work
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Metadata
Title
Combining Stereo Imaging, Inertial and Altitude Sensing Systems for the Quad-Rotor
Authors
Luis Rodolfo García Carrillo
Alejandro Enrique Dzul López
Rogelio Lozano
Claude Pégard
Copyright Year
2013
Publisher
Springer London
Book
Quad Rotorcraft Control

Print ISBN: 978-1-4471-4398-7

Electronic ISBN: 978-1-4471-4399-4

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-1-4471-4399-4_7