{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/88007"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/88007","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"An improved model-based observer for inertial navigation for quadrotors with low cost IMUs","abstract":"In this thesis, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of reference---including along the z-axis of this frame---with data only from a low-cost inertial measurement unit (IMU), something that has not been demonstrated previously. An observability analysis predicts that our proposed observer will perform well. Experimental results over 110 flight trials verify this prediction, showing that our proposed observer achieves lower root mean square error than three other state-of-the-art model-based observers.","abstract_html":"In this thesis, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of reference---including along the z-axis of this frame---with data only from a low-cost inertial measurement unit (IMU), something that has not been demonstrated previously. An observability analysis predicts that our proposed observer will perform well. Experimental results over 110 flight trials verify this prediction, showing that our proposed observer achieves lower root mean square error than three other state-of-the-art model-based observers.","abstract_has_math":false,"creators":["Hanley, David John"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Aerospace Engineering","degree_department":null,"school":null,"contributors":["Bretl, Timothy W."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-09-29T20:38:08Z","date_published":"2015-09-29T20:38:08Z","updated_at":"2026-07-22T22:26:31Z","subjects":["Inertial Navigation","Unmanned Aircraft","Quadrotors","Observer","Estimator"],"languages":["en"],"rights":["Copyright 2015 David Hanley"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/88007","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Bretl, Timothy W."]},{"key":"dc:creator","label":"Author","values":["Hanley, David John"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2015-09-29T20:38:08Z","2015-08","2015-07-15","2015-8"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Inertial Navigation","Unmanned Aircraft","Quadrotors","Observer","Estimator"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2015 David Hanley"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/88007"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["In this thesis, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of reference---including along the z-axis of this frame---with data only from a low-cost inertial measurement unit (IMU), something that has not been demonstrated previously. An observability analysis predicts that our proposed observer will perform well. Experimental results over 110 flight trials verify this prediction, showing that our proposed observer achieves lower root mean square error than three other state-of-the-art model-based observers.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2015-09-29 without embargo terms","The student, David Hanley, accepted the attached license on 2015-07-13 at 22:12.","The student, David Hanley, submitted this Thesis for approval on 2015-07-13 at 22:17.","This Thesis was approved for publication on 2015-07-15 at 07:43.","DSpace SAF Submission Ingestion Package generated from Vireo submission #8363 on 2015-09-29 at 13:22:11","Made available in DSpace on 2015-09-29T20:38:08Z (GMT). No. of bitstreams: 2 HANLEY-THESIS-2015.pdf: 1334730 bytes, checksum: 80f694c36d98c7d6cea516cc177d4295 (MD5) LICENSE.txt: 4209 bytes, checksum: 6065985d535aa75a29a8a802c0d7bc9f (MD5) Previous issue date: 2015-07-15"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["An improved model-based observer for inertial navigation for quadrotors with low cost IMUs"]}]}],"canonical_facts":{"dc:contributor":["Bretl, Timothy W."],"dc:creator":["Hanley, David John"],"dc:date":["2015-09-29T20:38:08Z","2015-08","2015-07-15","2015-8"],"dc:description":["In this thesis, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of reference---including along the z-axis of this frame---with data only from a low-cost inertial measurement unit (IMU), something that has not been demonstrated previously. An observability analysis predicts that our proposed observer will perform well. Experimental results over 110 flight trials verify this prediction, showing that our proposed observer achieves lower root mean square error than three other state-of-the-art model-based observers.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2015-09-29 without embargo terms","The student, David Hanley, accepted the attached license on 2015-07-13 at 22:12.","The student, David Hanley, submitted this Thesis for approval on 2015-07-13 at 22:17.","This Thesis was approved for publication on 2015-07-15 at 07:43.","DSpace SAF Submission Ingestion Package generated from Vireo submission #8363 on 2015-09-29 at 13:22:11","Made available in DSpace on 2015-09-29T20:38:08Z (GMT). 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