Bayesian-based EKF Parameters Tuning
A new method for tuning noise in UAV AHRS estimation uses Bayesian optimization for fast, efficient improvements. By adjusting scaling factors of noise matrices, it efficiently optimizes for high-d...
Projects
Magnetic Disturbance Tolerant AHRS
This project focuses on creating a reliable Attitude and Heading Reference System (AHRS) algorithm using real-time data from the ICM-20948 sensor. Specifically designed firmware code was developed ...
Vision-based UAV Indoor Navigation
Drone navigates indoors without GPS: This project equipped a drone with stereo cameras, lidar, and ultrasonic sensors to navigate autonomously in GPS-denied environments. Cameras + lidar + IMU help...
LiDAR Sensor-based Obstacle Avoidance for Drone Outdoor Navigation
The project focuses on implementing drone obstacle avoidance using lidar sensor data. During autonomous navigation, the drone identifies obstacles along its path, promptly adjusting its course to n...