Real-Time Velocity and Hovering Control for Rotorcraft Based on Visual State Estimation

The purpose of this thesis is to solve the velocity and hover flight control problem of rotorcraft in GNSS-denied environments by using a low-cost Optical Flow Sensor (OFS) and an RGBD camera. An OFS is employed for velocity estimation and an RGBD camera is employed for pose estimation based on ORB-...

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Bibliographic Details
Main Authors: Du, Hao, Wang, Wei, Liu, Hongxun, Wang, Qi, Shi, Hongbiao, Xue, Lei
Format: Conference Proceeding
Language:English
Subjects:
Cameras
depth camera
hover control
PI control
Pose estimation
Real-time systems
State estimation
Velocity control
visual SLAM
Visualization
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Summary:The purpose of this thesis is to solve the velocity and hover flight control problem of rotorcraft in GNSS-denied environments by using a low-cost Optical Flow Sensor (OFS) and an RGBD camera. An OFS is employed for velocity estimation and an RGBD camera is employed for pose estimation based on ORB-SLAM2 algorithm. Firstly, the mathematical model of velocity is established, then the classical PID control is applied to realize the velocity and hover control, and the designed embedded control system is installed on the drone for flight verification. We verified the effectiveness of this system for estimating velocity, position and controlling the drone in real-time in an indoor environment, and discuss its limitations.
ISSN:2688-0938
DOI:10.1109/CAC53003.2021.9728667