Flydar: Magnetometer-based High Angular Rate Estimation during Gyro Saturation for SLAM
Chee How Tan,Danial Sufiyan bin Shaiful,Emmanuel Tang,Jien-Yi Khaw,Gim Song Soh,Shaohui Foong,Chee How Tan,Danial Sufiyan bin Shaiful,Emmanuel Tang,Jien-Yi Khaw,Gim Song Soh,Shaohui Foong
In this paper, the high angular rate estimation for simultaneous localisation and mapping (SLAM) of a Flying Li-DAR (Flydar) is presented. The proposed EKF-based algorithm exploits the sinusoidal magnetometer measurement generated by the continuously rotating airframe for estimation of the robot hovering angular velocity. Significantly, the proposed method does not rely on additional sensors other...
