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Global Formulation of an Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV

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Abstract

An extended Kalman filter (EKF) is developed on the special Euclidean group, S E(3) for geometric control of a quadrotor UAV. It is obtained by performing an intrinsic form of linearization on S E(3) to estimate the state of the quadrotor from noisy measurements. The proposed estimator considers all of the coupling effects between rotational and translational dynamics, and it is developed in a coordinate-free fashion. The desirable features of the proposed EKF are illustrated by numerical examples and experimental results for several scenarios. The proposed estimation scheme on S E(3) has been unprecedented and these results can be particularly useful for aggressive maneuvers in GPS denied environments or in situations where parts of onboard sensors fail.

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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, The George Washington University, Washington, DC, 20052, USA

    Farhad A. Goodarzi & Taeyoung Lee

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  1. Farhad A. Goodarzi
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  2. Taeyoung Lee
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Correspondence to Farhad A. Goodarzi.

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Goodarzi, F.A., Lee, T. Global Formulation of an Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV. J Intell Robot Syst 88, 395–413 (2017). https://doi.org/10.1007/s10846-017-0525-6

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  • DOI: https://doi.org/10.1007/s10846-017-0525-6

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