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For a class of uncertain systems with large-error sensing, the low-orderstable signal corrector and observer are presented for signal correction anduncertainty estimation according to completely decoupling estimation. Thesignal corrector can reject the large error in global position sensing, andsystem uncertainty can be estimated by the observer, even the existence ofstochastic non-Gaussian noise. The corrector and observer are applied to a UAVnavigation and control for large-error corrections in position/attitude angleand the uncertainties estimation in the UAV flight dynamics. The control lawsare designed according to the correction-estimation results. Finally,experiments demonstrate the effectiveness of the proposed method.

Signal corrector and decoupling estimations for UAV control