Preliminary Results On Vision-Inertial State Estimation For Smqt System

We present some preliminary results on state estimation of SmQT system, which consists of multiple UAVs. By using multiple set of IMU-camera and additional IMU, we estimate whole state of UAVs and tool. The estimator merge vision data and IMU measurements under mechanical constraint of SmQT system to increase tracking accuracy and robustness. Simulation is also performed to illustrate the results.