Abstract
The article presents theoretical and experimental approaches to stabilizing a quadcopter in hovering mode based on stereo vision in combination with inertial sensors based on the state space method. In this experiment, an onboard stereo vision system is used, with which one can estimate the position of the quadcopter relative to the marker on the wall. Indoors, this method allows to measure coordinates of position, which are difficult to calculate when using purely inertial drift sensors. When implementing this approach, 12 states are evaluated, 6 of them are collected from inertial sensors as heading parameters, and 6 position states are obtained from the stereo vision system. Real model experiments show that the system provides reliable real-time accuracy.
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