Error-State Kalman Filter Based External Wrench Estimation for MAVs Under a Cascaded Architecture
Yuhan Yin,Qingkai Yang,Hao Fang,Yuhan Yin,Qingkai Yang,Hao Fang
In many applications such as aerial transportation, delivery, and manipulation, it is essential to know the external wrench exerted on multirotor aerial vehicles precisely. This paper presents an algorithm to estimate external wrench using a rotor speed measurement unit, an inertial measurement unit and a motion capture system. Under a cascaded architecture containing two sub-systems, one error-st...
