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Stabilization of an Unmanned Aerial Vehicle Using Real-Time Embedded Motion Estimation

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Academic year: 2021

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Figure

Fig. 1. Algorithm architecture. The left side contains the image processing and match extraction methods whilst the right side contains the state estimation and data fusion methods
Fig. 2. Quadrotor used for embedded testing
Fig. 5 proves the efficiency of the proposed horizontal velocity stabilization law. The controller settings were k = 10 and k i = 0.15

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