{"id":683,"date":"2017-10-16T08:36:36","date_gmt":"2017-10-16T07:36:36","guid":{"rendered":"http:\/\/babel.isa.uma.es\/kipr\/?p=683"},"modified":"2018-07-05T08:38:55","modified_gmt":"2018-07-05T07:38:55","slug":"using-ekf-to-estimate-the-state-of-a-quadcopter-in-se3","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=683","title":{"rendered":"Using EKF to estimate the state of a quadcopter in SE(3)"},"content":{"rendered":"<h4>Goodarzi, F.A. &#038; Lee, <strong>Global Formulation of an Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV<\/strong>, J Intell Robot Syst (2017) 88: 395, <a href=\"http:\/\/doi.org\/10.1007\/s10846-017-0525-6\" target=\"_blank\">DOI: 10.1007\/s10846-017-0525-6<\/a>.<\/h4>\n<blockquote><p>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.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Goodarzi, F.A. &#038; Lee, Global Formulation of an Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV, <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=683\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[131,289],"class_list":["post-683","post","type-post","status-publish","format-standard","hentry","category-mobile-robot-localization","tag-ekf","tag-quadcopters"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/683"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=683"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/683\/revisions"}],"predecessor-version":[{"id":684,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/683\/revisions\/684"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=683"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=683"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=683"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}