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首页> 外文期刊>Micromachines >Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors
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Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors

机译：基于RGB-D摄像头和MEMS惯性传感器的GPS要求室内环境中的微型飞行器基于观测器的不变状态估计

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摘要

This paper presents a non-linear state observer-based integrated navigation scheme for estimating the attitude, position and velocity of micro aerial vehicles (MAV) operating in GPS-denied indoor environments, using the measurements from low-cost MEMS (micro electro-mechanical systems) inertial sensors and an RGB-D camera. A robust RGB-D visual odometry (VO) approach was developed to estimate the MAV’s relative motion by extracting and matching features captured by the RGB-D camera from the environment. The state observer of the RGB-D visual-aided inertial navigation was then designed based on the invariant observer theory for systems possessing symmetries. The motion estimates from the RGB-D VO were fused with inertial and magnetic measurements from the onboard MEMS sensors via the state observer, providing the MAV with accurate estimates of its full six degree-of-freedom states. Implementations on a quadrotor MAV and indoor flight test results demonstrate that the resulting state observer is effective in estimating the MAV’s states without relying on external navigation aids such as GPS. The properties of computational efficiency and simplicity in gain tuning make the proposed invariant observer-based navigation scheme appealing for actual MAV applications in indoor environments.
机译：本文提出了一种基于非线性状态观测器的集成导航方案，该方案使用低成本MEMS（微机电）的测量结果来估算在GPS受限的室内环境中运行的微型飞行器（MAV）的姿态，位置和速度系统）惯性传感器和RGB-D相机。开发了一种强大的RGB-D视觉测距（VO）方法，通过提取和匹配RGB-D相机从环境中捕获的特征来估计MAV的相对运动。然后，基于不变观测器理论，针对具有对称性的系统，设计了RGB-D视觉辅助惯性导航的状态观测器。通过状态观察器将RGB-D VO的运动估计值与板载MEMS传感器的惯性和磁测量值融合在一起，从而为MAV提供了完整的六个自由度状态的准确估计值。在四旋翼飞行器的飞行器和室内飞行测试结果上的实现表明，最终的状态观测器可以有效地估算飞行器的状态，而无需依赖GPS等外部导航工具。计算效率和增益调整简单性的特性使所提出的基于观测器的不变导航方案吸引了室内环境中的实际MAV应用。

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