Title :
A robust gyroless attitude estimation scheme for a small fixed-wing unmanned aerial vehicle
Author :
Kallapur, Abhijit ; Petersen, Ian ; Anavatti, Sreenatha
Author_Institution :
Sch. of Aerosp., Univ. of New South Wales at the Australian Defence Force Acad., Canberra, ACT, Australia
Abstract :
This paper proposes a backup attitude estimation scheme for small fixed-wing unmanned aerial vehicles (UAVs) in the event of gyroscopic failure. The attitude of the system is propagated in terms of 3 degrees-of-freedom (DoF) aircraft dynamics while a combined accelerometer and global positioning system (GPS) based attitude measurement scheme is used to update attitude errors. The uncertainties in the aircraft dynamics are modeled as norm-bound uncertainties and a discrete-time robust extended Kalman filter (REKF) is implemented to estimate the attitude of the UAV.
Keywords :
Global Positioning System; aircraft control; attitude control; remotely operated vehicles; robust control; uncertain systems; 3 DoF aircraft dynamics; GPS; Global Positioning System; accelerometer; backup attitude estimation scheme; discrete-time robust extended Kalman filter; norm-bound uncertainty; robust gyroless attitude estimation scheme; small fixed-wing unmanned aerial vehicle; Aerodynamics; Aircraft navigation; Equations; Global Positioning System; Gyroscopes; Nonlinear dynamical systems; Robustness; Sensor systems; Unmanned aerial vehicles; Vehicle dynamics;
Conference_Titel :
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location :
Hong Kong
Print_ISBN :
978-89-956056-2-2
Electronic_ISBN :
978-89-956056-9-1
