Scheduled System Maintenance:
On May 6th, single article purchases and IEEE account management will be unavailable from 8:00 AM - 12:00 PM ET (12:00 - 16:00 UTC). We apologize for the inconvenience.
By Topic

Probabilistic velocity estimation for autonomous miniature airships using thermal air flow sensors

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Müller, J. ; Fac. of Eng., Univ. of Freiburg, Freiburg, Germany ; Paul, O. ; Burgard, W.

Recently, autonomous miniature airships have become a growing research field. Whereas airships are attractive as they can move freely in the three-dimensional space, their high-dimensional state space and the restriction to small and lightweight sensors are demanding constraints with respect to self-localization. Furthermore, their complex second-order kinematics makes the estimation of their pose and velocity through dead reckoning odometry difficult and imprecise. In this paper, we consider the problem of estimating the velocity of a miniature blimp with lightweight air flow sensors. We present a probabilistic sensor model that accurately models the uncertainty of the flow sensors and thus allows for robust state estimation using a particle filter. In experiments carried out with a real airship we demonstrate that our method precisely estimates the velocity of the blimp and outperforms the standard velocity estimates of the motion model as applied in many existent autonomous blimp navigation systems.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012