IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates
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 thr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-04-01
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| Series: | Remote Sensing |
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| Online Access: | https://www.mdpi.com/2072-4292/11/7/838 |
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| author | You Li Shady Zahran Yuan Zhuang Zhouzheng Gao Yiran Luo Zhe He Ling Pei Ruizhi Chen Naser El-Sheimy |
| author_facet | You Li Shady Zahran Yuan Zhuang Zhouzheng Gao Yiran Luo Zhe He Ling Pei Ruizhi Chen Naser El-Sheimy |
| author_sort | You Li |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-13T10:53:03Z |
| format | Article |
| id | doaj.art-a3bc8658f105474d96fdf30fa4ef03b7 |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-12-13T10:53:03Z |
| publishDate | 2019-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-a3bc8658f105474d96fdf30fa4ef03b72022-12-21T23:49:45ZengMDPI AGRemote Sensing2072-42922019-04-0111783810.3390/rs11070838rs11070838IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity UpdatesYou Li0Shady Zahran1Yuan Zhuang2Zhouzheng Gao3Yiran Luo4Zhe He5Ling Pei6Ruizhi Chen7Naser El-Sheimy8Department of Geomatics Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, CanadaDepartment of Geomatics Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, CanadaState Key Laboratory of Surveying, Mapping and Remote Sensing, Wuhan University, 129 Luoyu Road, Wuhan 430079, ChinaSchool of Land Science and Technology, China University of Geosciences (Beijing), 29 Xueyuan Road, Beijing 100083, ChinaDepartment of Geomatics Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, CanadaDepartment of Geomatics Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, CanadaThe Shanghai Key Laboratory of Navigation and Location Based Services, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 20024, ChinaState Key Laboratory of Surveying, Mapping and Remote Sensing, Wuhan University, 129 Luoyu Road, Wuhan 430079, ChinaDepartment of Geomatics Engineering, University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, CanadaVelocity 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.https://www.mdpi.com/2072-4292/11/7/838indoor localizationquadrotor UAVair flowinertial sensormagnetometerbarometerultrasonicKalman filter |
| spellingShingle | You Li Shady Zahran Yuan Zhuang Zhouzheng Gao Yiran Luo Zhe He Ling Pei Ruizhi Chen Naser El-Sheimy IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates Remote Sensing indoor localization quadrotor UAV air flow inertial sensor magnetometer barometer ultrasonic Kalman filter |
| title | IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates |
| title_full | IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates |
| title_fullStr | IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates |
| title_full_unstemmed | IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates |
| title_short | IMU/Magnetometer/Barometer/Mass-Flow Sensor Integrated Indoor Quadrotor UAV Localization with Robust Velocity Updates |
| title_sort | imu magnetometer barometer mass flow sensor integrated indoor quadrotor uav localization with robust velocity updates |
| topic | indoor localization quadrotor UAV air flow inertial sensor magnetometer barometer ultrasonic Kalman filter |
| url | https://www.mdpi.com/2072-4292/11/7/838 |
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