Design of speed and sensor bias estimator for Unmanned Aerial Vehicle

In this contribution we investigate the problem of simultaneous linear velocity and acceleration measurement constant bias estimation of an Unmanned Aerial Vehicle (UAV). The estimator is a linear time-varying Luenberger like observer. The asymptotic stability proof is based on a theorem related to triangular systems due to Vidyasagar and the use of Lyapunov and Krasovskii-LaSalle techniques. The exponential stability of the estimation error is obtained thanks to linear time-varying systems properties. The stability conditions are expressed in terms of the UAV angular velocity. Performances and easiness of implementation of the proposed approach are shown through numerical simulations of a Quad-rotor UAV.