- Conference Paper
Rights / licenseIn Copyright - Non-Commercial Use Permitted
A method for recovery from the complete loss of the state estimate is presented for autonomous quadcopters. Given an aerodynamic force model, the only measurements used to reinitialize the state estimate by means of a bank of extended Kalman filters are the angular rate and linear acceleration measurements of an IMU. The method is integrated within a complete recovery logic on a quadcopter platform and experimentally evaluated. Show more
Book title2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages / Article No.
SubjectState Estimation; Quadrocopter; Drone technology; Aerodynamics; Kalman filtering; Bayesian estimation
Organisational unit03758 - D'Andrea, Raffaello / D'Andrea, Raffaello
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