QDR: A quadrotor dead reckoning framework

Artur Shurin, Itzik Klein

Research output: Contribution to journalArticlepeer-review


Quadrotors are used for variety of applications both outdoors and indoors. Among them are - deliveries, surveillance, transportation, mapping and more. To accomplish its tasks an accurate navigation solution is required. To that end, most quadrotors apply fusion between an inertial navigation system and other external sensors, such as global navigation satellite systems (outdoors) or vision (indoors/outdoors). Due to environmental or sensor constraints, in some portion of the trajectory, the navigation solution relies only on the inertial navigation system solution. Consequently, the navigation solution drifts in time due to errors and noise in the inertial sensors measurements. Motivated from the pedestrian dead reckoning approach, we propose the quadrotor dead-reckoning framework to mitigate the navigation solution drift in situations of pure inertial navigation. There, instead of a straight line trajectory, the quadrotor is flown with a periodic motion to enable peak to peak distance estimation. Simulation and experiments results show that the proposed approach greatly improves the accuracy of the navigation solution.

Original languageEnglish
Pages (from-to)204433-204440
Number of pages8
JournalIEEE Access
StatePublished - 2020

Bibliographical note

Publisher Copyright:
© 2020 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.


  • Drones
  • Indoor navigation
  • Inertial measurement unit
  • Pedestrian dead reckoning

ASJC Scopus subject areas

  • General Computer Science
  • General Materials Science
  • General Engineering


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