Quadrotor Inertial Navigation Aided by Vehicle Dynamic Model: A Nonlinear Observability Analysis
Penulis/Author
Bagaskara P P (1); Dr.Eng. Ir. Adha Imam Cahyadi, S.T., M.Eng., IPM. (2); Dr.Eng. Ir. Igi Ardiyanto, S.T., M.Eng. (3)
Tanggal/Date
2022
Kata Kunci/Keyword
Abstrak/Abstract
Previous studies have shown that quadrotor in-
ertial navigation with aiding from a vehicle dynamic model
(VDM) can be applied for short periods of flight without global
navigation satellite system (GNSS) measurements. However,
quadrotor inertial navigation flight experiments were performed
without conducting the observability analysis which is necessary
to guarantee state convergence. To investigate the claims of
these studies, we conducted a nonlinear observability analysis
on the recent quadrotor VDM. The analysis shows that the
position of the quadrotor is unobservable, but the velocity is still
observable. This analysis confirms the experimental results from
previous studies that VDM-aided quadrotor inertial navigation
is only applicable for short periods of GNSS-denied flight.
However, a further analysis gives an interesting finding that
the VDM parameters are observable provided only an inertial
measurement unit (IMU) sensor. In theory, online estimation of
the VDM parameters are still possible and may improve the
performance of VDM-aided quadrotor inertial navigation.
