A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs

L. N C Sikkel; G. C H E De Croon; C. De Wagter; Q. P. Chu

doi:10.1109/IROS.2016.7759336

A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs

L. N C Sikkel, G. C H E De Croon, C. De Wagter, Q. P. Chu

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

40 Citations (Scopus)

Abstract

This work extends the drag-force enhanced quadrotor model by denoting the free stream air velocity as the difference between the ground speed and the wind speed. It is demonstrated that a relatively simple nonlinear observer is capable of estimating the local wind components, provided accelerometer and GPS-velocity measurements are available. We perform a wind tunnel experiment at various wind speeds using a quadrotor vehicle with a low-cost Inertial Measurement Unit (IMU) and a motion tracking system to provide accurate ground speed measurements. It is shown that the onboard Extended Kalman Filter (EKF) accurately estimates the wind components.

Original language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	2141-2146
Number of pages	6
Volume	2016-November
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759336
Publication status	Published - 28 Nov 2016
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org/

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated title	IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16
Internet address	http://www.iros2016.org/

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10.1109/IROS.2016.7759336

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Sikkel, L. N. C., De Croon, G. C. H. E., De Wagter, C., & Chu, Q. P. (2016). A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 2141-2146). Article 7759336 IEEE. https://doi.org/10.1109/IROS.2016.7759336

@inproceedings{dd20198778e84c22a0474337f5182ecf,

title = "A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs",

abstract = "This work extends the drag-force enhanced quadrotor model by denoting the free stream air velocity as the difference between the ground speed and the wind speed. It is demonstrated that a relatively simple nonlinear observer is capable of estimating the local wind components, provided accelerometer and GPS-velocity measurements are available. We perform a wind tunnel experiment at various wind speeds using a quadrotor vehicle with a low-cost Inertial Measurement Unit (IMU) and a motion tracking system to provide accurate ground speed measurements. It is shown that the onboard Extended Kalman Filter (EKF) accurately estimates the wind components.",

author = "Sikkel, {L. N C} and {De Croon}, {G. C H E} and {De Wagter}, C. and Chu, {Q. P.}",

year = "2016",

month = nov,

day = "28",

doi = "10.1109/IROS.2016.7759336",

language = "English",

volume = "2016-November",

pages = "2141--2146",

booktitle = "IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

note = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS 2016 ; Conference date: 09-10-2016 Through 14-10-2016",

url = "http://www.iros2016.org/",

}

Sikkel, LNC, De Croon, GCHE , De Wagter, C & Chu, QP 2016, A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759336, IEEE, pp. 2141-2146, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759336

A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs. / Sikkel, L. N C; De Croon, G. C H E ; De Wagter, C. et al.
IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November IEEE, 2016. p. 2141-2146 7759336.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Sikkel, L. N C

AU - De Croon, G. C H E

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AU - Chu, Q. P.

PY - 2016/11/28

Y1 - 2016/11/28

N2 - This work extends the drag-force enhanced quadrotor model by denoting the free stream air velocity as the difference between the ground speed and the wind speed. It is demonstrated that a relatively simple nonlinear observer is capable of estimating the local wind components, provided accelerometer and GPS-velocity measurements are available. We perform a wind tunnel experiment at various wind speeds using a quadrotor vehicle with a low-cost Inertial Measurement Unit (IMU) and a motion tracking system to provide accurate ground speed measurements. It is shown that the onboard Extended Kalman Filter (EKF) accurately estimates the wind components.

AB - This work extends the drag-force enhanced quadrotor model by denoting the free stream air velocity as the difference between the ground speed and the wind speed. It is demonstrated that a relatively simple nonlinear observer is capable of estimating the local wind components, provided accelerometer and GPS-velocity measurements are available. We perform a wind tunnel experiment at various wind speeds using a quadrotor vehicle with a low-cost Inertial Measurement Unit (IMU) and a motion tracking system to provide accurate ground speed measurements. It is shown that the onboard Extended Kalman Filter (EKF) accurately estimates the wind components.

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M3 - Conference contribution

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VL - 2016-November

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EP - 2146

BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

Y2 - 9 October 2016 through 14 October 2016

ER -

A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs

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