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Robust gyro-free attitude estimation for a small fixed-wing unmanned aerial vehicle. (English) Zbl 1303.93169
Summary: This paper proposes a backup attitude estimation scheme for small fixed-wing unmanned aerial vehicles (UAVs) in the event of gyroscopic failure. The attitude is propagated in terms of 3 degrees-of-freedom (DoF) aircraft dynamics. The errors in attitude propagation are updated using indirect attitude information obtained from accelerations as sensed by onboard accelerometers and a global positioning system (GPS) receiver. In the event of gyroscopic failure, large uncertainties are introduced into the attitude propagation model. Such uncertainties in states and parameters are modeled as norm-bound uncertainties and a discrete-time robust extended Kalman filter (REKF) is implemented to estimate the attitude of the UAV.

93E10 Estimation and detection in stochastic control theory
93E11 Filtering in stochastic control theory
93C85 Automated systems (robots, etc.) in control theory
93C15 Control/observation systems governed by ordinary differential equations
Full Text: DOI
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