A Drag Model-LIDAR-IMU Fault-Tolerance Fusion Method for Quadrotors.

Pin Lyu, Bingqing Wang, Jizhou Lai, Shichao Liu, Zhimin Li

Open access · goldAbstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

0.1field-weighted citation impact, top 41% of its field

1 · What the graph read from it

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Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

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0 citing papers in PubMed, 2 citations in OpenAlex.

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4 · The record

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5 · Who and what money

Authors and funding

5 authors at 1 institution in 1 country.

Pin LyuNavigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. lvpin@nuaa.edu.cn.

Bingqing WangNavigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. wangbingqing@nuaa.edu.cn.

Jizhou LaiNavigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. laijz@nuaa.edu.cn.

Shichao LiuNavigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. liushichao@nuaa.edu.cn.

Zhimin LiNavigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. lizhimin@nuaa.edu.cn.

Nanjing University of Aeronautics and Astronautics · CN

Funding

Aeronautical Science Foundation of China 2017ZC52017, 2018ZC52037National Natural Science Foundation of China 61703207, 61973160Natural Science Foundation of Jiangsu Province BK20170801

6 · The paper itself

Abstract

In this paper, a drag model-aided fault-tolerant state estimation method is presented for quadrotors. Firstly, the drag model accuracy was improved by modeling an angular rate related item and an angular acceleration related item, which are related with flight maneuver. Then the drag model, light detection and ranging (LIDAR), and inertial measurement unit (IMU) were fused based on the Federal Kalman filter frame. In the filter, the LIDAR estimation fault was detected and isolated, and the disturbance to the drag model was estimated and compensated. Some experiments were carried out, showing that the velocity and position estimation were improved compared with the traditional LIDAR/IMU fusion scheme.

Indexed as

fault-tolerant estimationimproved drag modelmodel-aided navigationquadrotor

Identifiers

PMID31597280

DOI10.3390/s19194337

PMCPMC6806240

OpenAlexW2979657496

What OpenQuestion holds

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LicenceCC BY

Read underepoch 390

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.