Multirotor Drones: Chapter 4
1. Prerequisites
Kinematics, Dynamics, linear algebra, pid control, mpc, sensors and sensing
2. General Motivation
Chapter 4: Measurement Model and State Estimation
Objective: Estimate the true state of the drone ($\mathbf{x}$) from noisy sensor measurements ($\mathbf{y}$).
4.1 Observability
4.2 Sensor Fusion/Kalman Filter
Classic/Extended Kalman Filter
4.3 State Estimation of Drones
Attitude Estimation
Position Estimation
Velocity Estimation
4.4 Visual Inertial Odometry (VIO):
GPS-denied navigation
pipeline
challenges