A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle

09/10/2020

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by   Jack Henderson, et al.

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Accurate localisation of unmanned aerial vehicles is vital for the next generation of automation tasks. This paper proposes a minimum energy filter for velocity-aided pose estimation on the extended special Euclidean group. The approach taken exploits the Lie-group symmetry of the problem to combine Inertial Measurement Unit (IMU) sensor output with landmark measurements into a robust and high performance state estimate. We propose an asynchronous discrete-time implementation to fuse high bandwidth IMU with low bandwidth discrete-time landmark measurements typical of real-world scenarios. The filter's performance is demonstrated by simulation.