Neural Moving Horizon Estimation for Robust Flight Control. (arXiv:2206.10397v3 [cs.RO] UPDATED)

Web: http://arxiv.org/abs/2206.10397

Estimating and reacting to external disturbances is crucial for robust flight
control of quadrotors. Existing estimators typically require significant tuning
for a specific flight scenario or training with extensive real-world data to
achieve satisfactory performance. In this paper, we propose a neural moving
horizon estimator (NeuroMHE) that can automatically tune the MHE parameters
modeled by a neural network and adapt to different flight scenarios. We achieve
this by deriving the analytical gradient of the MHE estimates with respect to
the …

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