C-ZUPT: Stationarity-Aided Aerial Hovering
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866914573066436608 |
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| author | Engelsman, Daniel Klein, Itzik |
| author_facet | Engelsman, Daniel Klein, Itzik |
| contents | Autonomous systems across diverse domains have underscored the need for drift-resilient state estimation. Although satellite-based positioning and cameras are widely used, they often suffer from limited availability in many environments. As a result, positioning must rely solely on inertial sensors, leading to rapid accuracy degradation over time due to sensor biases and noise. To counteract this, alternative update sources-referred to as information aiding-serve as anchors of certainty. Among these, the zero-velocity update (ZUPT) is particularly effective in providing accurate corrections during stationary intervals, though it is restricted to surface-bound platforms. This work introduces a controlled ZUPT (C-ZUPT) approach for aerial navigation and control, independent of surface contact. By defining an uncertainty threshold, C-ZUPT identifies quasi-static equilibria to deliver precise velocity updates to the estimation filter. Extensive validation confirms that these opportunistic, high-quality updates significantly reduce inertial drift and control effort. As a result, C-ZUPT mitigates filter divergence and enhances navigation stability, enabling more energy-efficient hovering and substantially extending sustained flight-key advantages for resource-constrained aerial systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_09344 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | C-ZUPT: Stationarity-Aided Aerial Hovering Engelsman, Daniel Klein, Itzik Robotics Systems and Control Autonomous systems across diverse domains have underscored the need for drift-resilient state estimation. Although satellite-based positioning and cameras are widely used, they often suffer from limited availability in many environments. As a result, positioning must rely solely on inertial sensors, leading to rapid accuracy degradation over time due to sensor biases and noise. To counteract this, alternative update sources-referred to as information aiding-serve as anchors of certainty. Among these, the zero-velocity update (ZUPT) is particularly effective in providing accurate corrections during stationary intervals, though it is restricted to surface-bound platforms. This work introduces a controlled ZUPT (C-ZUPT) approach for aerial navigation and control, independent of surface contact. By defining an uncertainty threshold, C-ZUPT identifies quasi-static equilibria to deliver precise velocity updates to the estimation filter. Extensive validation confirms that these opportunistic, high-quality updates significantly reduce inertial drift and control effort. As a result, C-ZUPT mitigates filter divergence and enhances navigation stability, enabling more energy-efficient hovering and substantially extending sustained flight-key advantages for resource-constrained aerial systems. |
| title | C-ZUPT: Stationarity-Aided Aerial Hovering |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2507.09344 |