Quadcopter Secure State Estimation

Junior Capstone Project, 

sponsered by Northrop Grumman

Jan - May 2017

For the Spring semester of my Junior year, I joined a three other Seniors in the second half of their capstone project. The goal was to implement a Secure State Estimation (SSE) algorithm in real-time on a custom quadcopter. The quadcopter was equipped with four IMU's, and two vertical range sensors.

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My responsibilities were primarily hardware integration. I was in charge of using ROS to connect all components of the system, from the sensors, the SSE algorithm, the control algorithm, and the flight controller (PixHawk).