@inproceedings{83badf606767465895815069c6cbbe26,
title = "Micro Aerial Vehicle Yaw Estimation and Localization Based on Ultrasonic Sensors in Indoor Environment",
abstract = "This paper addresses the problem of yaw angle estimation and indoor positioning of micro aerial vehicle (MAV) under GPS-free environment and complex electromagnetic interference. A distance-ranging-based approach is proposed to localize MAV. The relation of ultrasonic sensors measurements and MAV position as well as yaw angle is given by establishing a nonlinear, implicit, and piecewise continuous model. Thus, the extended Kalman filter (EKF) is applied to estimate the MAV position and yaw angle according to ultrasonic sensors and inertial measurement unit. Furthermore, a jump filter is introduced to compensate the mutation caused by discontinuity of the model. Simulations are presented and the results show the effectiveness of the algorithm.",
keywords = "EKF algorithm, MAV yaw estimation, indoor localization",
author = "Jiwen Xu and Lingyu Yang and Jiangpeng Xu and Xiaoke Feng and Jing Zhang",
note = "Publisher Copyright: {\textcopyright} 2020 Technical Committee on Control Theory, Chinese Association of Automation.; 39th Chinese Control Conference, CCC 2020 ; Conference date: 27-07-2020 Through 29-07-2020",
year = "2020",
month = jul,
doi = "10.23919/CCC50068.2020.9188825",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3433--3438",
editor = "Jun Fu and Jian Sun",
booktitle = "Proceedings of the 39th Chinese Control Conference, CCC 2020",
address = "美国",
}