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A non-linear observer for attitude estimation of a fixed-wing unmanned aerial vehicle without GPS measurements

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Mahony, Robert; Euston, Mark; Kim, Jonghyuk; Coote, Paul; Hamel, Tarek

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In this paper we propose a simple non-linear observer for attitude estimation based only on output from a typical inertial measurement unit (IMU) and dynamic pressure sensor embarked on a low-cost unmanned aerial vehicle. In particular, we aim to provide

dc.contributor.authorMahony, Robert
dc.contributor.authorEuston, Mark
dc.contributor.authorKim, Jonghyuk
dc.contributor.authorCoote, Paul
dc.contributor.authorHamel, Tarek
dc.date.accessioned2015-12-10T22:58:35Z
dc.identifier.issn0142-3312
dc.identifier.urihttp://hdl.handle.net/1885/60923
dc.description.abstractIn this paper we propose a simple non-linear observer for attitude estimation based only on output from a typical inertial measurement unit (IMU) and dynamic pressure sensor embarked on a low-cost unmanned aerial vehicle. In particular, we aim to provide
dc.publisherSage Publications Inc
dc.sourceTransactions of the Institute of Measurement and Control
dc.subjectKeywords: Attitude estimates; Attitude estimation; Centripetal force; Data sets; Dynamic pressure measurements; Dynamic pressures; First-order; Ground truth; High-frequency noise; Inertial measurement unit; Low frequency; Magnetic disturbance; Non-linear; Non-linea attitude estimates; non-linear observer; special orthogonal group; unmanned aerial vehicle.
dc.titleA non-linear observer for attitude estimation of a fixed-wing unmanned aerial vehicle without GPS measurements
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolumeNovember 2010
dc.date.issued2010
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4334215xPUB573
local.type.statusPublished Version
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationEuston, Mark, College of Engineering and Computer Science, ANU
local.contributor.affiliationKim, Jonghyuk, College of Engineering and Computer Science, ANU
local.contributor.affiliationCoote, Paul, College of Engineering and Computer Science, ANU
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.description.embargo2037-12-31
local.bibliographicCitation.issueon-line
local.bibliographicCitation.startpage1
local.bibliographicCitation.lastpage19
local.identifier.doi10.1177/0142331209343660
local.identifier.absseo970110 - Expanding Knowledge in Technology
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2016-02-24T11:02:02Z
local.identifier.scopusID2-s2.0-79960721275
local.identifier.thomsonID000293088100005
CollectionsANU Research Publications

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