Attitude and Position Estimation in UAVs using Artificial Landmarks and MEMS Sensors in a Virtual Environment

Rafael Costa Fernandes; Paulo Sergio  Silva; Filipe Ieda Fazanaro; Diego Paolo  Ferruzzo  Correa

doi:10.48011/asba.v2i1.1656

Rafael Costa Fernandes Universidade Federal do ABC
Paulo Sergio Silva Universidade Federal do ABC
Filipe Ieda Fazanaro Universidade Federal do ABC
Diego Paolo Ferruzzo Correa Universidade Federal do ABC

DOI: https://doi.org/10.48011/asba.v2i1.1656

Keywords: Artificial landmarks, Attitude estimation, Position estimation, Computer vision, Microelectromechanical systems sensors, UAV

Abstract

This work discusses the development of a hybrid estimation algorithm based on computer vision and microelectromechanical system sensors. A mathematical enviroment was developed to simulate the dynamics of the quadrotor and its sensors, a 3D simulation software was also developed, simulating a on-board camera. The results obtained were compared to a TRIAD/MEMS attitude and position estimation technique. A fourty times increase in precision was shown, at the cost of five times additional computational processing time.