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81416 |
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|a Cutler, Mark Johnson
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|a Massachusetts Institute of Technology. Aerospace Controls Laboratory
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|a Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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|a Cutler, Mark Johnson
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|a Michini, Bernard J.
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|a How, Jonathan P.
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|a Michini, Bernard J.
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|a How, Jonathan P.
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|a Lightweight infrared sensing for relative navigation of quadrotors
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|b Institute of Electrical and Electronics Engineers,
|c 2013-10-17T18:40:29Z.
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|z Get fulltext
|u http://hdl.handle.net/1721.1/81416
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|a A lightweight solution for estimating position and velocity relative to a known marker is presented. The marker consists of three infrared (IR) LEDs in a fixed pattern. Using an IR camera with a 100 Hz update rate, the range and bearing to the marker are calculated. This information is then fused with inertial sensor information to produce state estimates at 1 kHz using a sigma point Kalman filter. The computation takes place on a 14 gram custom autopilot, yielding a lightweight system for generating high-rate relative state information. The estimation scheme is compared to data recorded with a motion capture system.
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|a National Science Foundation (U.S.) (Graduate Research Fellowship under Grant No. 0645960)
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|a en_US
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|a Article
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|t 2013 International Conference on Unmanned Aircraft Systems (ICUAS)
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