Jien-Yi Khaw

Flydar: Magnetometer-based High Angular Rate Estimation during Gyro Saturation for SLAM

In this paper, the high angular rate estimation for simultaneous localisation and mapping (SLAM) of a Flying Li-DAR (Flydar) is presented. The proposed EKF-based algorithm exploits the sinusoidal magnetometer measurement generated by the continuously rotating airframe for estimation of the robot hov…