基于观测器的垂直起降无人机跟踪控制器：使用视觉辅助惯性导航直接测量值
Observer-based Controller for VTOL-UAVs Tracking using Direct Vision-Aided Inertial Navigation Measurements
AI总结：
本研究提出一种基于观测器的VTOL-UAV控制器，可直接利用VA-INS测量值实现6 DoF轨迹跟踪，省去姿态位置重建，计算效率更高，闭环误差指数稳定，适用于GPS不可用环境，且提供了离散版本并完成测试。
摘要：
本文提出了一种新型的基于观测器的垂直起降（Vertical Take-Off and Landing, VTOL）无人机（Unmanned Aerial Vehicle, UAV）控制器，该控制器被设计为直接接收来自视觉辅助惯性导航系统（Vision-Aided Inertial Navigation System, VA-INS）的测量值，并生成所需的推力和旋转扭矩输入。VA-INS由一个视觉单元（单目或立体相机）和一个典型的低成本6轴惯性测量单元（Inertial Measurement Unit, IMU）组成，该IMU配备加速度计和陀螺仪。该方法的一大优势是适用于全球定位系统（Global Positioning System, GPS）无法接入的环境。\n所提出的VTOL-UAV观测器利用IMU和特征测量值来准确估计姿态（朝向）、陀螺仪偏置、位置和线速度。直接使用VA-INS测量值的能力使得所提出的观测器设计计算效率更高，因为它省去了姿态和位置重建的需求。一旦估计出运动分量，基于观测器的控制器就会被用于控制VTOL-UAV的姿态、角速度、位置和线速度，引导飞行器沿期望的六自由度（six degrees of freedom, 6 DoF）轨迹飞行。基于观测器的控制器的闭环估计和控制误差被证明从几乎任何初始条件开始都是指数稳定的。\n为了实现VTOL-UAV在6 DoF下的全局唯一表示，所提出的方法建立在李群（Lie Group）之上，并给出了单位四元数形式的设计。虽然所提出的方法以连续形式描述，但本文也提供了离散版本并进行了测试。
英文摘要：
This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the required thrust and rotational torque inputs. The VA-INS is composed of a vision unit (monocular or stereo camera) and a typical low-cost 6-axis Inertial Measurement Unit (IMU) equipped with an accelerometer and a gyroscope. A major benefit of this approach is its applicability for environments where the Global Positioning System (GPS) is inaccessible. The proposed VTOL-UAV observer utilizes IMU and feature measurements to accurately estimate attitude (orientation), gyroscope bias, position, and linear velocity. Ability to use VA-INS measurements directly makes the proposed observer design more computationally efficient as it obviates the need for attitude and position reconstruction. Once the motion components are estimated, the observer-based controller is used to control the VTOL-UAV attitude, angular velocity, position, and linear velocity guiding the vehicle along the desired trajectory in six degrees of freedom (6 DoF). The closed-loop estimation and the control errors of the observer-based controller are proven to be exponentially stable starting from almost any initial condition. To achieve global and unique VTOL-UAV representation in 6 DoF, the proposed approach is posed on the Lie Group and the design in unit-quaternion is presented. Although the proposed approach is described in a continuous form, the discrete version is provided and tested. Keywords: Vision-aided inertial navigation system, unmanned aerial vehicle, vertical take-off and landing, stochastic, noise, Robotics, control systems, air mobility, observer-based controller algorithm, landmark measurement, exponential stability.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
