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Robust cooperative localization and navigation of tethered heterogeneous autonomous unmanned vehicles in resource-constrained environments
Robust cooperative localization and navigation of tethered heterogeneous autonomous unmanned vehicles in resource-constrained environments
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机译：资源受限环境中系绳异构自主无人车辆的强大合作本地化和导航
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摘要
A self-localization method and system to estimate the position of a tethered quadcopter using only the onboard sensors. Embodiments of the invention are based on the dynamics of the tethered quadcopter and the principles of an accelerometer. The estimated orientation angles of the tether were used to estimate the location of the quadcopter with respect to the connecting point of the tether, which can be a ground vehicle. The results generated by both the software simulation and actual experiments reveal the effectiveness and accuracy of embodiments of the present invention.
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