Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation

Zhan Tu; Fan Fei; Yilun Yang; Jian Zhang; Xinyan Deng

doi:10.1109/ICRA.2018.8461025

Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation

Zhan Tu
, Fan Fei
, Yilun Yang
, Jian Zhang
, Xinyan Deng

Purdue University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

18 引用（Scopus）

摘要

Unlike conventional aerial vehicles of fixed or rotary wings, realtime on-board attitude estimation of insect or hummingbird scale Flapping Wing Micro Aerial Vehicles (FWMAVs) is very challenging due to the severe instantaneous oscillations (approximately ten times of gravity on our platform) induced by high-frequency wing flapping. In this work, we present a novel sensor fusion algorithm for realtime on-board attitude estimation of FWMAVs. The algorithm is proposed with adaptive model-based compensation for both sensing drift and aerodynamic forces induced by flapping wings. We validated our approach on a 12.5 grams hummingbird robot. The experimental results demonstrated the accuracy, convergence, and robustness of the proposed algorithm.

源语言	英语
主期刊名	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
页	6806-6811
页数	6
ISBN（电子版）	9781538630815
DOI	https://doi.org/10.1109/ICRA.2018.8461025
出版状态	已出版 - 10 9月 2018
已对外发布	是
活动	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, 澳大利亚期限: 21 5月 2018 → 25 5月 2018

出版系列

姓名	Proceedings - IEEE International Conference on Robotics and Automation
ISSN（印刷版）	1050-4729

会议

会议	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
国家/地区	澳大利亚
市	Brisbane
时期	21/05/18 → 25/05/18

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10.1109/ICRA.2018.8461025

其它文件与链接

链接到 Scopus 的出版物

引用此

Tu, Z., Fei, F., Yang, Y., Zhang, J., & Deng, X. (2018). Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation. 在 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (页码 6806-6811). 文章 8461025 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8461025

Tu, Zhan ; Fei, Fan ; Yang, Yilun 等. / Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 6806-6811 (Proceedings - IEEE International Conference on Robotics and Automation).

@inproceedings{5d4c6ff2e3ac4245a96534b408e2d78f,

title = "Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation",

abstract = "Unlike conventional aerial vehicles of fixed or rotary wings, realtime on-board attitude estimation of insect or hummingbird scale Flapping Wing Micro Aerial Vehicles (FWMAVs) is very challenging due to the severe instantaneous oscillations (approximately ten times of gravity on our platform) induced by high-frequency wing flapping. In this work, we present a novel sensor fusion algorithm for realtime on-board attitude estimation of FWMAVs. The algorithm is proposed with adaptive model-based compensation for both sensing drift and aerodynamic forces induced by flapping wings. We validated our approach on a 12.5 grams hummingbird robot. The experimental results demonstrated the accuracy, convergence, and robustness of the proposed algorithm.",

author = "Zhan Tu and Fan Fei and Yilun Yang and Jian Zhang and Xinyan Deng",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",

year = "2018",

month = sep,

day = "10",

doi = "10.1109/ICRA.2018.8461025",

language = "英语",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",

address = "美国",

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Tu, Z, Fei, F, Yang, Y, Zhang, J & Deng, X 2018, Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation. 在 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8461025, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., 页码 6806-6811, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, 澳大利亚, 21/05/18. https://doi.org/10.1109/ICRA.2018.8461025

Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation. / Tu, Zhan; Fei, Fan; Yang, Yilun 等.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 6806-6811 8461025 (Proceedings - IEEE International Conference on Robotics and Automation).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation

AU - Tu, Zhan

AU - Fei, Fan

AU - Yang, Yilun

AU - Zhang, Jian

AU - Deng, Xinyan

PY - 2018/9/10

Y1 - 2018/9/10

N2 - Unlike conventional aerial vehicles of fixed or rotary wings, realtime on-board attitude estimation of insect or hummingbird scale Flapping Wing Micro Aerial Vehicles (FWMAVs) is very challenging due to the severe instantaneous oscillations (approximately ten times of gravity on our platform) induced by high-frequency wing flapping. In this work, we present a novel sensor fusion algorithm for realtime on-board attitude estimation of FWMAVs. The algorithm is proposed with adaptive model-based compensation for both sensing drift and aerodynamic forces induced by flapping wings. We validated our approach on a 12.5 grams hummingbird robot. The experimental results demonstrated the accuracy, convergence, and robustness of the proposed algorithm.

AB - Unlike conventional aerial vehicles of fixed or rotary wings, realtime on-board attitude estimation of insect or hummingbird scale Flapping Wing Micro Aerial Vehicles (FWMAVs) is very challenging due to the severe instantaneous oscillations (approximately ten times of gravity on our platform) induced by high-frequency wing flapping. In this work, we present a novel sensor fusion algorithm for realtime on-board attitude estimation of FWMAVs. The algorithm is proposed with adaptive model-based compensation for both sensing drift and aerodynamic forces induced by flapping wings. We validated our approach on a 12.5 grams hummingbird robot. The experimental results demonstrated the accuracy, convergence, and robustness of the proposed algorithm.

UR - https://www.scopus.com/pages/publications/85063149444

U2 - 10.1109/ICRA.2018.8461025

DO - 10.1109/ICRA.2018.8461025

M3 - 会议稿件

AN - SCOPUS:85063149444

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 6806

EP - 6811

BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

Y2 - 21 May 2018 through 25 May 2018

ER -

Tu Z, Fei F, Yang Y, Zhang J, Deng X. Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation. 在 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 页码 6806-6811. 8461025. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8461025

Realtime on-board attitude estimation of high-frequency flapping wing MAVs under large instantaneous oscillation

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