Abstract
This chapter explains a fast and low-cost state localization estimation method for small-sized UAVs, that uses an IMU, a smart camera and an infrared time-of-flight range sensor that act as an odometer providing absolute attitude, velocity, orientation, angular rate and acceleration at a rate higher than 100 Hz. This allows estimating almost continuously the localization of the aerial robot, when GPS or other methods can at most reach 5 Hz. This technique does not require creating a map for localization.
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Notes
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Note that in EKF the orientation error is additive and this distinction is irrelevant.
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Santamaria-Navarro, A., Solà, J., Andrade-Cetto, J. (2019). Odometry Estimation for Aerial Manipulators . In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_15
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