Airflow-Inertial Odometry for Resilient State Estimation on Multirotors
Andrea Tagliabue,Jonathan P. How,Andrea Tagliabue,Jonathan P. How
We present a dead reckoning strategy for increased resilience to position estimation failures on multirotors, using only data from a low-cost IMU and novel, bio-inspired airflow sensors. The goal is challenging, since low-cost IMUs are subject to large noise and drift, while 3D airflow sensing is made difficult by the interference caused by the propellers and by the wind. Our approach relies on a ...
