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How do estimate AR drone height

asked 2012-06-06 21:59:03 -0500

updated 2012-06-07 07:44:39 -0500

Eric Perko gravatar image

I have a AR drone parrot and I use the drone package from Brown university, so is it possible to estimate altitude for drone using the available IMU data in navdata messages...

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answered 2012-06-07 07:40:42 -0500

The /ardrone/navdata message should contains a field for estimated height called altd (see here), which I believe is from the ultrasound sensor on the drone.

In general it is difficult to estimate position from an IMU, as you need to dead reckon over the acceleration values to estimate height, and this process accumulates error.

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How would you suscribe to this topic in order to work with the values of altd?

Pedro_85 gravatar image Pedro_85  ( 2013-07-21 04:42:15 -0500 )edit

answered 2014-08-21 02:02:59 -0500

z3391384 gravatar image

There is a branch of research called visual inertial navigation in which the visual estimation is fused with IMU measurement to get metric distance and speed.

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Asked: 2012-06-06 21:59:03 -0500

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Last updated: Jun 07 '12