Visual-Inertial Cross Fusion: A Fast and Accurate State Estimation Framework for Micro Flapping Wing Rotors

Visual-Inertial Cross Fusion: A Fast and Accurate State Estimation Framework for Micro Flapping Wing Rotors

Real-time and drift-free state estimation is essential for the flight control of Micro Aerial Vehicles (MAVs). Due to the vibration caused by the particular flapping motion and the stringent constraints of scale, weight, and power, state estimation divergence actually becomes an open challenge for f...

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Bibliographic Details
Main Authors: Xin Dong, Ziyu Wang, Fangyuan Liu, Song Li, Fan Fei, Daochun Li, Zhan Tu
Format: Article
Language:English
Published: MDPI AG 2022-03-01
Series:Drones
Subjects:
microaerial vehicle
flapping wing rotorcraft
state estimation
sensor fusion
Online Access:https://www.mdpi.com/2504-446X/6/4/90

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