A Hardware-Minimal Unscented Kalman Filter Framework for Visual-Inertial Navigation of Small Unmanned Aircraft
This thesis presents the development and implementation of a software framework for estimating the position of a drone during flight. This framework is based on an algorithm known as the Unscented Kalman Filter (UKF), a recursive method of estimating the state of a highly nonlinear system, such as a...
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Virginia Tech
2017
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| Online Access: | http://hdl.handle.net/10919/77927 |