Indoor Navigation Strategies for Aerial Autonomous Systems

Preface

The purpose of this book is to give necessary and sufficient theoretical basis for those interested in working with Unmanned Aerial Vehicles (UAVs). Likewise, it provides, for those working in this area, a substantial theoretical and practical complement to their work.

When we work in autonomous navigation for aerial vehicles, it is common to consider ideal cases, i.e., full knowledge of the states, ideal measurements of the sensors, and non-external (or known) perturbations. Nevertheless, in flight tests this is not the case. The book's benefits to the audience are several: first of all, we propose three different approaches to mathematically represent the dynamics of an aerial vehicle. In one of these methodologies the quaternion ...