Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles
In this study, the Lie group approach was used for state estimation of the dynamic-model-aided navigation (DMAN) of a small multirotor unmanned aerial vehicle. The unit quaternions constituting a Lie group called the three-sphere space (<inline-formula> <tex-math notation="LaTeX"&...
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9791384/ |
| _version_ | 1828357437334224896 |
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| author | Nak Yong Ko Gyeongsub Song Wonkeun Youn Sung Hyun You |
| author_facet | Nak Yong Ko Gyeongsub Song Wonkeun Youn Sung Hyun You |
| author_sort | Nak Yong Ko |
| collection | DOAJ |
| description | In this study, the Lie group approach was used for state estimation of the dynamic-model-aided navigation (DMAN) of a small multirotor unmanned aerial vehicle. The unit quaternions constituting a Lie group called the three-sphere space (<inline-formula> <tex-math notation="LaTeX">$S^{3} $ </tex-math></inline-formula>) were used to represent the attitude in the dynamic equations for the process and measurement models. The linearization of these models is presented in terms of Lie algebra corresponding to <inline-formula> <tex-math notation="LaTeX">$S^{3} $ </tex-math></inline-formula>. The use of Lie algebra to describe the attitude increment conforms to the linearity assumption, on which the measurement update of the extended Kalman filter (EKF) is based. In this study, it was experimentally validated that the Lie group approach combined with DMAN performs better than the EKF that uses the conventional linearization of the process and measurement models under the assumption that the nonlinearity effect is negligible for a small attitude increment. It was demonstrated that the navigation states estimated using the proposed model are better than or comparable to those obtained using the current methods, and the proposed method significantly improves the internal properties. |
| first_indexed | 2024-04-14T03:14:32Z |
| format | Article |
| id | doaj.art-2e86abb34b1140ea8c920376b6ad739b |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-14T03:14:32Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-2e86abb34b1140ea8c920376b6ad739b2022-12-22T02:15:30ZengIEEEIEEE Access2169-35362022-01-0110727177273010.1109/ACCESS.2022.31807699791384Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial VehiclesNak Yong Ko0https://orcid.org/0000-0003-4277-3450Gyeongsub Song1Wonkeun Youn2https://orcid.org/0000-0001-6954-9059Sung Hyun You3https://orcid.org/0000-0002-8781-2823Department of Electronic Engineering, Interdisciplinary Program in IT-Bio Convergence Systems, Chosun University, Gwangju, South KoreaDepartment of Control and Instrumentation Engineering, Interdisciplinary Program in IT-Bio Convergence Systems, Chosun University, Gwangju, South KoreaDepartment of Autonomous Vehicle System Engineering, Chungnam National University, Daejeon, South KoreaDepartment of Electronic Engineering, Chosun University, Gwangju, South KoreaIn this study, the Lie group approach was used for state estimation of the dynamic-model-aided navigation (DMAN) of a small multirotor unmanned aerial vehicle. The unit quaternions constituting a Lie group called the three-sphere space (<inline-formula> <tex-math notation="LaTeX">$S^{3} $ </tex-math></inline-formula>) were used to represent the attitude in the dynamic equations for the process and measurement models. The linearization of these models is presented in terms of Lie algebra corresponding to <inline-formula> <tex-math notation="LaTeX">$S^{3} $ </tex-math></inline-formula>. The use of Lie algebra to describe the attitude increment conforms to the linearity assumption, on which the measurement update of the extended Kalman filter (EKF) is based. In this study, it was experimentally validated that the Lie group approach combined with DMAN performs better than the EKF that uses the conventional linearization of the process and measurement models under the assumption that the nonlinearity effect is negligible for a small attitude increment. It was demonstrated that the navigation states estimated using the proposed model are better than or comparable to those obtained using the current methods, and the proposed method significantly improves the internal properties.https://ieeexplore.ieee.org/document/9791384/Three-sphere spaceLie groupLie algebraunit quaternionmultirotornavigation |
| spellingShingle | Nak Yong Ko Gyeongsub Song Wonkeun Youn Sung Hyun You Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles IEEE Access Three-sphere space Lie group Lie algebra unit quaternion multirotor navigation |
| title | Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_full | Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_fullStr | Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_full_unstemmed | Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_short | Lie Group Approach to Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_sort | lie group approach to dynamic model aided navigation of multirotor unmanned aerial vehicles |
| topic | Three-sphere space Lie group Lie algebra unit quaternion multirotor navigation |
| url | https://ieeexplore.ieee.org/document/9791384/ |
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