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Open AccessArticle

A Drag Model-LIDAR-IMU Fault-Tolerance Fusion Method for Quadrotors

Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
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Sensors 2019, 19(19), 4337; https://doi.org/10.3390/s19194337
Received: 5 September 2019 / Revised: 23 September 2019 / Accepted: 1 October 2019 / Published: 8 October 2019
(This article belongs to the Section Intelligent Sensors)
In this paper, a drag model-aided fault-tolerant state estimation method is presented for quadrotors. Firstly, the drag model accuracy was improved by modeling an angular rate related item and an angular acceleration related item, which are related with flight maneuver. Then the drag model, light detection and ranging (LIDAR), and inertial measurement unit (IMU) were fused based on the Federal Kalman filter frame. In the filter, the LIDAR estimation fault was detected and isolated, and the disturbance to the drag model was estimated and compensated. Some experiments were carried out, showing that the velocity and position estimation were improved compared with the traditional LIDAR/IMU fusion scheme. View Full-Text
Keywords: model-aided navigation; fault-tolerant estimation; improved drag model; quadrotor model-aided navigation; fault-tolerant estimation; improved drag model; quadrotor
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Lyu, P.; Wang, B.; Lai, J.; Liu, S.; Li, Z. A Drag Model-LIDAR-IMU Fault-Tolerance Fusion Method for Quadrotors. Sensors 2019, 19, 4337.

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