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Remote Sens. 2019, 11(7), 838; https://doi.org/10.3390/rs11070838

IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates

1
Department of Geomatics Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, Canada
2
State Key Laboratory of Surveying, Mapping and Remote Sensing, Wuhan University, 129 Luoyu Road, Wuhan 430079, China
3
School of Land Science and Technology, China University of Geosciences (Beijing), 29 Xueyuan Road, Beijing 100083, China
4
German Research Centre for Geosciences (GFZ), Telegrafenberg, 14473 Potsdam, Germany
5
School of Information and Electronics, Beijing Institute of Technology, Beijing 100081, China
6
The Shanghai Key Laboratory of Navigation and Location Based Services, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 20024, China
*
Author to whom correspondence should be addressed.
Received: 20 February 2019 / Revised: 2 April 2019 / Accepted: 4 April 2019 / Published: 8 April 2019
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Abstract

Velocity updates have been proven to be important for constraining motion-sensor-based dead-reckoning (DR) solutions in indoor unmanned aerial vehicle (UAV) applications. The forward velocity from a mass flow sensor and the lateral and vertical non-holonomic constraints (NHC) can be utilized for three-dimensional (3D) velocity updates. However, it is observed that (a) the quadrotor UAV may have a vertical velocity trend when it is controlled to move horizontally; (b) the quadrotor may have a pitch angle when moving horizontally; and (c) the mass flow sensor may suffer from sensor errors, especially the scale factor error. Such phenomenons degrade the performance of velocity updates. Thus, this paper presents a multi-sensor integrated localization system that has more effective sensor interactions. Specifically, (a) the barometer data are utilized to detect height changes and thus determine the weight of vertical velocity update; (b) the pitch angle from the inertial measurement unit (IMU) and magnetometer data fusion is used to set the weight of forward velocity update; and (c) an extra mass flow sensor calibration module is introduced. Indoor flight tests have indicated the effectiveness of the proposed sensor interaction strategies in enhancing indoor quadrotor DR solutions, which can also be used for detecting outliers in external localization technologies such as ultrasonics. View Full-Text
Keywords: indoor localization; quadrotor UAV; air flow; inertial sensor; magnetometer; barometer; ultrasonic; Kalman filter indoor localization; quadrotor UAV; air flow; inertial sensor; magnetometer; barometer; ultrasonic; Kalman filter
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Li, Y.; Zahran, S.; Zhuang, Y.; Gao, Z.; Luo, Y.; He, Z.; Pei, L.; Chen, R.; El-Sheimy, N. IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates. Remote Sens. 2019, 11, 838.

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