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This paper proposes, through a survey of models of several UAV-structures, a generic nonlinear model for reduced scale aerial robotic vehicles (6 DOF). Dynamics of an aircraft and some VTOL UAV (quadricopter, ducted fan and classical helicopter) are illustrated. This generic model focuses only on the key physical efforts acting on the dynamics in order to be sufficiently simple to design a controller...
This paper presents a coupled observer that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle. The observer is based on a non-linear complimentary filter framework and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in low-cost inertial measurement systems. Asymptotic...
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