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Robust Gyro‐free Attitude Estimation for a Small Fixed‐wing Unmanned Aerial Vehicle
Author(s) -
Kallapur Abhijit G.,
Petersen Ian R.,
Anavatti Sreenatha G.
Publication year - 2012
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.507
Subject(s) - gyroscope , control theory (sociology) , fixed wing , attitude control , global positioning system , attitude and heading reference system , accelerometer , backup , kalman filter , computer science , extended kalman filter , engineering , control engineering , aerospace engineering , wing , artificial intelligence , control (management) , telecommunications , database , operating system
This paper proposes a backup attitude estimation scheme for small fixed‐wing unmanned aerial vehicles ( UAVs ) in the event of gyroscopic failure. The attitude is propagated in terms of 3 degrees‐of‐freedom ( DoF ) aircraft dynamics. The errors in attitude propagation are updated using indirect attitude information obtained from accelerations as sensed by onboard accelerometers and a global positioning system ( GPS ) receiver. In the event of gyroscopic failure, large uncertainties are introduced into the attitude propagation model. Such uncertainties in states and parameters are modeled as norm‐bound uncertainties and a discrete‐time robust extended Kalman filter ( REKF ) is implemented to estimate the attitude of the UAV .