IMU-and exteroceptive sensor-based fusión for UAV control.

Autores
Pérez Paina , Gonzalo; Pucheta , Martín Alejo; Paz, Claudio
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión aceptada
Descripción
A quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of applications, like in spection, surveillance, cinematographic filmation, among others. Most of these applications are easily performed if the quadrotor is able to flight autonomously, which can be achieved using a feedback control loop. In order to be close the loop, the UAV state has to be estimated using the information of the on-board sensors. This work presents an IMU- and exteroceptive sensor- based fusion approach for state estimation to be used in a quadrotor control loop. The presented results are based on simulations using a dynamic model of the quadrotor, in which the performed estimation is used as feedback vector instead of the model true output. These results show that the proposed estimation approach is accurate enough to control the quadrotor and perform typical paths, like a circle and a square path.
Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fuente
IEEE Xplore.(2017)
Materia
State estimation
UAV control
Sensor fusion
Nivel de accesibilidad
acceso abierto
Condiciones de uso
Attribution-NonCommercial-NoDerivatives 4.0 International
Repositorio
Repositorio Institucional Abierto (UTN)
Institución
Universidad Tecnológica Nacional
OAI Identificador
oai:ria.utn.edu.ar:20.500.12272/13419
Acceder
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oai_identifier_str oai:ria.utn.edu.ar:20.500.12272/13419
network_acronym_str RIAUTN
repository_id_str a
network_name_str Repositorio Institucional Abierto (UTN)
spelling IMU-and exteroceptive sensor-based fusión for UAV control.Pérez Paina , GonzaloPucheta , Martín AlejoPaz, ClaudioState estimationUAV controlSensor fusionA quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of applications, like in spection, surveillance, cinematographic filmation, among others. Most of these applications are easily performed if the quadrotor is able to flight autonomously, which can be achieved using a feedback control loop. In order to be close the loop, the UAV state has to be estimated using the information of the on-board sensors. This work presents an IMU- and exteroceptive sensor- based fusion approach for state estimation to be used in a quadrotor control loop. The presented results are based on simulations using a dynamic model of the quadrotor, in which the performed estimation is used as feedback vector instead of the model true output. These results show that the proposed estimation approach is accurate enough to control the quadrotor and perform typical paths, like a circle and a square path.Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.IEEE Xplore.2025-07-01T22:27:36Z2017info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articulopdfapplication/pdf2017 XVII Workshop on Information Processing and Control (RPIC).https://hdl.handle.net/20.500.12272/13419IEEE Xplore.(2017)reponame:Repositorio Institucional Abierto (UTN)instname:Universidad Tecnológica Nacionalenginfo:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Pérez Paina, Gonzalo; Paz, Claudio; Pucheta, Martín Alejo.https://creativecommons.org/licenses/by-nc-nd/4.0/2026-09-24T12:47:30Zoai:ria.utn.edu.ar:20.500.12272/13419instacron:UTNInstitucionalhttp://ria.utn.edu.ar/Universidad públicaNo correspondehttp://ria.utn.edu.ar/oaigestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:a2026-09-24 12:47:31.527Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacionalfalse
dc.title.none.fl_str_mv IMU-and exteroceptive sensor-based fusión for UAV control.
title IMU-and exteroceptive sensor-based fusión for UAV control.
spellingShingle IMU-and exteroceptive sensor-based fusión for UAV control.
Pérez Paina , Gonzalo
State estimation
UAV control
Sensor fusion
title_short IMU-and exteroceptive sensor-based fusión for UAV control.
title_full IMU-and exteroceptive sensor-based fusión for UAV control.
title_fullStr IMU-and exteroceptive sensor-based fusión for UAV control.
title_full_unstemmed IMU-and exteroceptive sensor-based fusión for UAV control.
title_sort IMU-and exteroceptive sensor-based fusión for UAV control.
dc.creator.none.fl_str_mv Pérez Paina , Gonzalo
Pucheta , Martín Alejo
Paz, Claudio
author Pérez Paina , Gonzalo
author_facet Pérez Paina , Gonzalo
Pucheta , Martín Alejo
Paz, Claudio
author_role author
author2 Pucheta , Martín Alejo
Paz, Claudio
author2_role author
author
dc.subject.none.fl_str_mv State estimation
UAV control
Sensor fusion
topic State estimation
UAV control
Sensor fusion
dc.description.none.fl_txt_mv A quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of applications, like in spection, surveillance, cinematographic filmation, among others. Most of these applications are easily performed if the quadrotor is able to flight autonomously, which can be achieved using a feedback control loop. In order to be close the loop, the UAV state has to be estimated using the information of the on-board sensors. This work presents an IMU- and exteroceptive sensor- based fusion approach for state estimation to be used in a quadrotor control loop. The presented results are based on simulations using a dynamic model of the quadrotor, in which the performed estimation is used as feedback vector instead of the model true output. These results show that the proposed estimation approach is accurate enough to control the quadrotor and perform typical paths, like a circle and a square path.
Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
description A quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of applications, like in spection, surveillance, cinematographic filmation, among others. Most of these applications are easily performed if the quadrotor is able to flight autonomously, which can be achieved using a feedback control loop. In order to be close the loop, the UAV state has to be estimated using the information of the on-board sensors. This work presents an IMU- and exteroceptive sensor- based fusion approach for state estimation to be used in a quadrotor control loop. The presented results are based on simulations using a dynamic model of the quadrotor, in which the performed estimation is used as feedback vector instead of the model true output. These results show that the proposed estimation approach is accurate enough to control the quadrotor and perform typical paths, like a circle and a square path.
publishDate 2017
dc.date.none.fl_str_mv 2017
2025-07-01T22:27:36Z
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv 2017 XVII Workshop on Information Processing and Control (RPIC).
https://hdl.handle.net/20.500.12272/13419
identifier_str_mv 2017 XVII Workshop on Information Processing and Control (RPIC).
url https://hdl.handle.net/20.500.12272/13419
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Pérez Paina, Gonzalo; Paz, Claudio; Pucheta, Martín Alejo.
https://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
rights_invalid_str_mv Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Pérez Paina, Gonzalo; Paz, Claudio; Pucheta, Martín Alejo.
https://creativecommons.org/licenses/by-nc-nd/4.0/
dc.format.none.fl_str_mv pdf
application/pdf
dc.publisher.none.fl_str_mv IEEE Xplore.
publisher.none.fl_str_mv IEEE Xplore.
dc.source.none.fl_str_mv IEEE Xplore.(2017)
reponame:Repositorio Institucional Abierto (UTN)
instname:Universidad Tecnológica Nacional
reponame_str Repositorio Institucional Abierto (UTN)
collection Repositorio Institucional Abierto (UTN)
instname_str Universidad Tecnológica Nacional
repository.name.fl_str_mv Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacional
repository.mail.fl_str_mv gestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.ar
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score 13.265058

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