Visual-Inertial Request For Attitude Determination Of Multirotor Aerial Vehicles

Davi Antônio dos Santos¹; Raphael Ballet¹; Éder Alves de Moura Moura¹; Luiz Carlos Sandoval Góes¹

¹ Instituto Tecnológico da Aeronáutica

doi:10.20906/CPS/CON-2016-0648

Resumo

The present paper proposes a visual-inertial attitude estimator for multirotor aerial vehicles (MAV). The vehicle is assumed to be equipped with a 3-axis rate-gyro and a downward-pointing camera, both rigidly fixed on its structure. The method is based on the REQUEST algorithm, which is a well-known solution to the problem of attitude determination form vector measurements. Here the camera provides the vector measurements defined as unit vectors pointing from the camera optical center to known landmarks. The method is evaluated via Monte Carlo simulations which shows its perfomance for different number of visible landmarks and different values of a fading factor parameter of the method.

Palavras-chave: Visual-inertial estimation; attitude determination; REQUEST; multirotor aerial vehicle.