Flight-Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation

Author

Gross, Jason N. ; Gu, Yu ; Rhudy, Matthew B. ; Gururajan, Srikanth ; Napolitano, Marcello R.

Author_Institution

West Virginia Univ., Morgantown, WV, USA

Volume

48

Issue

3

fYear

2012

fDate

7/1/2012 12:00:00 AM

Firstpage

2128

Lastpage

2139

Abstract

In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman filter (UKF), and evaluated with respect to performance and complexity. The contributions of this study are that attitude estimates are compared with independent measurements provided by a mechanical vertical gyroscope using 23 diverse sets of flight data, and that a fundamental difference between EKF and UKF with respect to linearization is evaluated.

Keywords

Global Positioning System; Kalman filters; aerospace testing; gyroscopes; inertial navigation; sensor fusion; EKF; GPS-INS algorithms; Global Positioning System-inertial navigation system algorithms; UKF; attitude estimation; extended Kalman filter; flight-test evaluation; mechanical vertical gyroscope; sensor fusion algorithms; unscented Kalman filter; Acceleration; Aircraft; Global Positioning System; Noise; Sensor fusion; Vectors; Velocity measurement;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/TAES.2012.6237583

Filename

6237583