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A robust gyroless attitude estimation scheme for a small fixed-wing unmanned aerial vehicle

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2009

Authors

Kallapur, Abhijit
Petersen, Ian
Anavatti, Sreenatha

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Abstract

This paper proposes a backup attitude estimation scheme for small fixed-wing unmanned aerial vehicles (DAVs) 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.

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https://hdl.handle.net/1885/733812374

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ANU Research Publications

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Conference paper

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Proceedings of 2009 7th Asian Control Conference, ASCC 2009

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