Robust Gyro‐free Attitude Estimation for a Small Fixed‐wing Unmanned Aerial Vehicle | Zendy

Kallapur Abhijit G. | Zendy; Petersen Ian R. | Zendy; Anavatti Sreenatha G. | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Premium

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 .

This content is not available in your region!

Continue researching here.

Having issues? You can contact us here

Accelerating Research