Today I read a paper titled “Onboard Flight Control of a Small Quadrotor Using Single Strapdown Optical Flow Sensor”
The abstract is:
This paper considers onboard control of a small-sized quadrotor using a strapdown embedded optical flow sensor which is conventionally used for desktop mice.
The vehicle considered in this paper can carry only few dozen grams of payload, therefore conventional camera-based optical flow methods are not applicable.
We present hovering control of the small-sized quadrotor using a single-chip optical flow sensor, implemented on an 8-bit microprocessor without external sensors or communication with a ground control station.
Detailed description of all the system components is provided along with evaluation of the accuracy.
Experimental results from flight tests are validated with the ground-truth data provided by a high-accuracy reference system.