Using multiple short hops for multicopter navigation with only inertial sensors
Xiangyu Wu,Mark W. Mueller,Xiangyu Wu,Mark W. Mueller
In certain challenging environments, such as inside buildings on fire, the main sensors (e.g. cameras, LiDARs and GPS systems) used for multicopter localization can become unavailable. Direct integration of the inertial navigation sensors (the accelerometer and rate gyroscope), is however unaffected by external disturbances, but the rapid error accumulation quickly makes a naive application of suc...
