Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing
Vicko Prkačin, Ivana Palunko, Ivan K. Petrovic · 2021
In this paper we consider an aerial vehicle transporting a suspended payload and propose an Extended Kalman filter for payload state estimation. The filter is based on derived system dynamics and relies solely on onboard IMU measurements. Effectiveness of the method is verified in numerical simulations and experimentally.