| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 5002546 | IFAC-PapersOnLine | 2016 | 7 Pages |
Abstract
This paper presents the design of a state estimator for fusing sensor data on a power line inspection robot to obtain position and attitude estimates. The approach taken is a loose coupling of global positioning system (GPS) data with inertial measurement unit (IMU) data and joint angle measurements. The fact that robot is constrained to be on a span is used to reduce the number of degrees of freedom. In this application, a magnetometer cannot provide useful measurement of the earth's magnetic field for attitude estimation because of the proximity to high current carrying transmission lines.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Edward Boje,