Robust gyro-free attitude estimation for a small fixed-wing unmanned aerial vehicle.

*(English)*Zbl 1303.93169Summary: 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.

##### MSC:

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 |

##### Keywords:

deterministic filtering; robust extended Kalman filter; norm-bound uncertainty; unmanned aerial vehicles; attitude estimation; gyroscopic failure##### Software:

Aerosim
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\textit{A. G. Kallapur} et al., Asian J. Control 14, No. 6, 1484--1495 (2012; Zbl 1303.93169)

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