Attitude and Position Estimation for a Power Line Inspection Robot. Issue 21 (2016)

• Record Type: Journal Article
• Authors: Boje, Edward
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 21(2016)
• Page Start: 529
• Page End: 535
• Publication Date: 2016
• Subjects: Power line robot -- State estimation -- Kalman filtering; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.656
• Languages: English
• ISSNs: 2405-8963

Abstract

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.