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Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing
- Source :
- 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
- Publication Year :
- 2021
-
Abstract
- In this paper we consider an aerial vehicle transporting a suspended payload and propose an Extended Kalman filter for payload state estimation. The filter is based on derived system dynamics and relies solely on onboard IMU measurements. Effectiveness of the method is verified in numerical simulations and experimentally.
- Subjects :
- Computer Science::Robotics
Extended Kalman filter
Computer simulation
Control theory
Inertial measurement unit
Filter (video)
Computer science
Payload (computing)
Trajectory
Astrophysics::Instrumentation and Methods for Astrophysics
Kalman filter
System dynamics
estimation
suspended payload
Extended Kalman Filter
Subjects
Details
- Language :
- English
- ISBN :
- 978-1-66543-389-1
- ISBNs :
- 9781665433891
- Database :
- OpenAIRE
- Journal :
- 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
- Accession number :
- edsair.doi.dedup.....7833b2b4c834e2d88cc416c969de80c8