Delay-Compensated Maximum-Likelihood-Estimation Method and Its Application for Quadrotor UAVs

• ADACHI Ryosuke

  Hokkaido University

• YAMASHITA Yuh

  Hokkaido University

Abstract

This study proposes a maximum-likelihood-estimation method for a quadrotor UAV given the existence of sensor delays. The state equation of the UAV is nonlinear, and thus, we propose an approximated method that consists of two steps. The first step estimates the past state based on the delayed output through an extended Kalman filter. The second step involves calculating an estimate of the present state by simulating the original system from the past to the present. It is proven that the proposed method provides an approximated maximum-likelihood-estimation. The effectiveness of the estimator is verified by performing experiments.

Journal

• IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E101.A (4), 678-684, 2018

  The Institute of Electronics, Information and Communication Engineers

Keywords

• Kalman filter
• delay
• observer
• UAV

Details

• CRID: 1390282681291202944
• NII Article ID: 130006601980
• DOI: 10.1587/transfun.e101.a.678
• ISSN: 17451337
• ISSN: 09168508
• Web Site: https://www.jstage.jst.go.jp/article/transfun/E101.A/4/E101.A_678/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed