Multiple model based state estimation and trajectory control for micro aerial vehicles

Gomaa, Mahmoud Abdelhakim Kamel (2021) Multiple model based state estimation and trajectory control for micro aerial vehicles. Doctoral (PhD) thesis, Memorial University of Newfoundland.

[img] [English] PDF - Accepted Version
Available under License - The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission.

Download (8MB)


This thesis proposes the design of a multiple model state estimation and control scheme for micro aerial vehicles (MAVs) to cope with different flight conditions such as aggressive flights, hovering flights, and flights under high external disturbances. The work is divided into two main parts. The first part of this thesis presents the design of an interacting multiple model (IMM) filter for visual-inertial navigation (VIN) of MAVs. VIN of MAVs in practice typically uses a single system model for its state estimator design. However, MAVs can operate in different scenarios requiring changes to the estimator model. This thesis proposes the use of a conventional VIN and a drag force VIN in an error-state IMM filtering framework to address the need for multiple models in the estimator. We use an epipolar geometry constraint for the design of the measurement model for both filters to realize computationally efficient state updates. Observability of the proposed modifications to VIN filters (drag force model, and epipolar measurement model) are analyzed, and observability-based consistency rules are derived for the two filters of the IMM. Monte Carlo numerical simulations validate the performance of the observability constrained IMM, which improved the accuracy and consistency of the VINS for changing flight conditions and external wind disturbance scenarios. Experimental validation is performed using the EuRoC dataset to evaluate the performance of the proposed IMM filter design.

Item Type: Thesis (Doctoral (PhD))
Item ID: 15698
Additional Information: Includes bibliographical references (pages 128-138)
Keywords: multi-rotor micro aerial vehicles, multiple model control, multiple model estimation interacting, multiple model algorithm, visual inertial navigation system, nonlinear observability analysis, observability-constrained VINS, nonlinear model predictive control, NMPC without terminal costs of constraints, stability analysis of nonlinear systems
Department(s): Engineering and Applied Science, Faculty of
Date: May 2021
Date Type: Submission
Digital Object Identifier (DOI):
Library of Congress Subject Heading: Micro air vehicles--Design and construction; Nonlinear theories

Actions (login required)

View Item View Item


Downloads per month over the past year

View more statistics