Precise indoor positioning algorithms for autonomous hexa-rotor using Cubature Kalman filter

Precise position estimation is one of the key issues in robotics field to realize the autonomous navigation system. The indoor navigation technique has been highlighted as the focus of research for the effective indoor operations. For the position estimation, various sensors including vision sensors or WSN modules have been applied recently. However, the performance of position estimation of a moving robot is dependent of both its filtering algorithm and sensor performance. With the wide study using different filters in many industrial areas from EKF, UKF, PF and etc., Cubature Kalman Filter has emerged as one of the effective positioning algorithms. In this paper, CKF algorithm for the application into multi-rotor position estimation is proposed, and the simulation results are shown.