Three-Dimensional Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles
This paper presents a dynamic-model-aided navigation (DMAN) method for a small multirotor unmanned aerial vehicle. The method can be used for temporary navigation in cases where location and velocity measurements from external sources, e.g., global navigation satellite system, are missing or unrelia...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8911410/ |
| _version_ | 1818353425371365376 |
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| author | Nak Yong Ko In Ho Choi Gyeongsub Song Wonkeun Youn |
| author_facet | Nak Yong Ko In Ho Choi Gyeongsub Song Wonkeun Youn |
| author_sort | Nak Yong Ko |
| collection | DOAJ |
| description | This paper presents a dynamic-model-aided navigation (DMAN) method for a small multirotor unmanned aerial vehicle. The method can be used for temporary navigation in cases where location and velocity measurements from external sources, e.g., global navigation satellite system, are missing or unreliable. The method combines proprioceptive measurements with a Kalman filter through a dynamic model to obtain the velocity and location of the vehicle. Acceleration and angular rate measurements from an inertial measurement unit, altitude measurements from a barometric altimeter, and proprioceptive measurements of the revolution speed of propellers are considered in the method. The dynamic model of the aerial vehicle relates the linear and angular velocities of the vehicle with the revolution speed of the propeller. The revolution speed is first converted into a thrust force and torque and then included in the model. The model avoids the singularity problem and describes processes and measurements in a three-dimensional space by representing attitude using quaternions instead of Euler angles. This study details two implementations of the DMAN method: extended Kalman filter (EKF) and unscented Kalman filter (UKF). The dynamic model is incorporated into the process model and measurement model of the implementations. A model that converts the revolution speed of propellers to thrust force and torque has been derived from unmanned aerial vehicle flight experiments. Experiments that implement the proposed method for quadrotor navigation verify the performance and state the limitations of the DMAN method. Compared with previous methods, the proposed method extends the application of DMAN to the three-dimensional space and obtains location and velocity measurements in a world coordinate system. |
| first_indexed | 2024-12-13T19:09:19Z |
| format | Article |
| id | doaj.art-bcd059662a8b4406b74c6686b16875dc |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T19:09:19Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-bcd059662a8b4406b74c6686b16875dc2022-12-21T23:34:26ZengIEEEIEEE Access2169-35362019-01-01717071517073210.1109/ACCESS.2019.29557568911410Three-Dimensional Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial VehiclesNak Yong Ko0https://orcid.org/0000-0003-4277-3450In Ho Choi1Gyeongsub Song2Wonkeun Youn3https://orcid.org/0000-0001-6954-9059Department of Electronic Engineering, Chosun University, Gwangju, South KoreaKorea Aerospace Research Institute, Daejeon, South KoreaDepartment of Control and Instrumentation Engineering, Chosun University, Gwangju, South KoreaKorea Aerospace Research Institute, Daejeon, South KoreaThis paper presents a dynamic-model-aided navigation (DMAN) method for a small multirotor unmanned aerial vehicle. The method can be used for temporary navigation in cases where location and velocity measurements from external sources, e.g., global navigation satellite system, are missing or unreliable. The method combines proprioceptive measurements with a Kalman filter through a dynamic model to obtain the velocity and location of the vehicle. Acceleration and angular rate measurements from an inertial measurement unit, altitude measurements from a barometric altimeter, and proprioceptive measurements of the revolution speed of propellers are considered in the method. The dynamic model of the aerial vehicle relates the linear and angular velocities of the vehicle with the revolution speed of the propeller. The revolution speed is first converted into a thrust force and torque and then included in the model. The model avoids the singularity problem and describes processes and measurements in a three-dimensional space by representing attitude using quaternions instead of Euler angles. This study details two implementations of the DMAN method: extended Kalman filter (EKF) and unscented Kalman filter (UKF). The dynamic model is incorporated into the process model and measurement model of the implementations. A model that converts the revolution speed of propellers to thrust force and torque has been derived from unmanned aerial vehicle flight experiments. Experiments that implement the proposed method for quadrotor navigation verify the performance and state the limitations of the DMAN method. Compared with previous methods, the proposed method extends the application of DMAN to the three-dimensional space and obtains location and velocity measurements in a world coordinate system.https://ieeexplore.ieee.org/document/8911410/Aerial vehiclemultirotorpropellernavigationvelocityattitude |
| spellingShingle | Nak Yong Ko In Ho Choi Gyeongsub Song Wonkeun Youn Three-Dimensional Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles IEEE Access Aerial vehicle multirotor propeller navigation velocity attitude |
| title | Three-Dimensional Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_full | Three-Dimensional Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_fullStr | Three-Dimensional Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_full_unstemmed | Three-Dimensional Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_short | Three-Dimensional Dynamic-Model-Aided Navigation of Multirotor Unmanned Aerial Vehicles |
| title_sort | three dimensional dynamic model aided navigation of multirotor unmanned aerial vehicles |
| topic | Aerial vehicle multirotor propeller navigation velocity attitude |
| url | https://ieeexplore.ieee.org/document/8911410/ |
| work_keys_str_mv | AT nakyongko threedimensionaldynamicmodelaidednavigationofmultirotorunmannedaerialvehicles AT inhochoi threedimensionaldynamicmodelaidednavigationofmultirotorunmannedaerialvehicles AT gyeongsubsong threedimensionaldynamicmodelaidednavigationofmultirotorunmannedaerialvehicles AT wonkeunyoun threedimensionaldynamicmodelaidednavigationofmultirotorunmannedaerialvehicles |