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论文类型：会议论文

发表时间：2014-01-01

收录刊物：CPCI-S

页面范围：2370-2375

关键字：Quadrotor; Cubature Kalman Filter; pose estimation; motion control; optical flow

摘要：Real-time pose estimation and reliable motion control are two crucial tasks for a quadrotor UAV. In order to obtain accurate and robust pose estimation, an estimation algorithm based on Cubature Kalman Filter (CKF) is adopted in this paper. Considering the limitation of a quadrotor working in GPS-denied indoor environments, a sparse optical flow algorithm is utilized in our work to estimate the quadrotor's velocity and position. After acquiring the quadrotor's real-time pose information, the pose and position control of a micro quadrotor are accomplished by using PID and PI-D controller. A series of experiments are performed on a home-made quadrotor UAV named Smart-QR. The experimental results show the validity and practicability of the proposed approach.