Sensor Fusion Algorithm Using a Model-Based Kalman Filter for the Position and Attitude Estimation of Precision Aerial Delivery Systems

摘要

In this research, we focus on the use of Unmanned Aerial Vehicles (UAVs) for the delivery of payloads and navigation towards safe-landing zones, specifically on the modeling of flight dynamics of lightweight vehicles denoted Precision Aerial Delivery Systems (PADSs). While a wide range of nonlinear models has been developed and tested on high-end applications considering various degrees of freedom (DOF), linear models suitable for low-cost applications have not been explored thoroughly. In this study, we propose and compare two linear models, a linearized version of a 6-DOF model specifically developed for micro-lightweight systems, and an alternative model based on a double integrator. Both linear models are implemented with a sensor fusion algorithm using a Kalman filter to estimate the position and attitude of PADSs, and their performance is compared to a nonlinear 6-DOF model. Simulation results demonstrate that both models, when incorporated into a Kalman filter estimation scheme, can determine the flight dynamics of PADSs during smooth flights. While it is validated that the double integrator model can adequately operate under the proposed estimation scheme for up to small acceleration changes, the linearized model proves to be capable of reproducing the nonlinear model characteristics even during moderately steep turns.