Open AccessThree-dimensional attitude determination using vector observations and optical flow sensors
Author(s) -
Xiang Li,
Peng Zhang,
Shi Qiu,
Tang Yanmei
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2005/1/012098
Subject(s) - gyroscope , angular velocity , accelerometer , optical flow , circular motion , measure (data warehouse) , computer science , magnetometer , flow (mathematics) , artificial intelligence , computer vision , physics , mechanics , quantum mechanics , database , magnetic field , image (mathematics) , operating system
Flight control of unmanned aerial vehicle relies on three-dimensional attitude determination, and the most commonly used solution is based on the combination of magnetometer, accelerometer, and gyroscope, namely the MARG sensor. Optical flow sensor is also widely applied on UAV to detect the motion of UAV relative to the ground. In this paper, we proposed a novel method that using multiple optical flow sensors to measure angular velocity. This method utilizes a linear model to resolve both linear and angular motion from the measurements of multiple optical flow sensors. In the case of in situ rotations, experiment results prove that the proposed method can effectively estimate the angular velocity, and it can be used to augment MARG-based attitude determination.