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

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

doi:10.1177/0142331209343660

Cited by 39 publications

(18 citation statements)

References 17 publications

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“…This demonstrates the efficacy of the CoR estimates from the dynamic calibration and the robustness of the DAC method. Moreover, with performance comparable to the advanced Xsens Extended Kalman filter, the Pendulum Filter supports claims that CFs can be implemented as successfully as EKFs [26].…”

Section: Discussionsupporting

confidence: 54%

“…While basic methods employ time-averaging in the sensor coordinate frame [24], this is susceptible to bias errors due to centripetal accelerations [25]. To the authors' best knowledge there is only one published method for centripetal acceleration compensation in the sensor frame, which is only relevant to UAV flight with a wind-speed sensor [26]. The majority of published methods are based on the assumption of zero-mean accelerations in the global frame [27], [28], although researchers have commented on the scarcity of details for these methods in scientific literature [29].…”

Section: Introductionmentioning

confidence: 99%

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A Novel Complimentary Filter for Tracking Hip Angles During Cycling Using Wireless Inertial Sensors and Dynamic Acceleration Estimation

2014

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As wireless motion sensors become more compact and robust, new opportunities emerge to develop wearable measurement technologies for in-field sports analysis. This paper presents a nonlinear complimentary filter for tracking 3-D hip joint angles during cycling using inertial and magnetic measurement systems (IMMSs). The filter utilizes a novel method of dynamic acceleration compensation in the sensor frame based on the assumption of pendulum motion of the thigh around the hip joint center. A dynamic calibration is proposed in which the center of rotation of the thigh IMMS can be estimated during a functional hip movement in standing. Validation results from a gold-standard optical system showed that the filter IMMS tracking is drift-free with mean absolute errors of less than 3°for all IMMS axes combined at low, medium, and high pedaling speeds. Hip angles were also validated using the Vicon biomechanical model for standing and sitting calibration poses as well as true and normalized soft-tissue-artefact (STA). The best mean absolute errors for the sagittal, frontal, and coronal planes were 0.8°, 6.7°, and 2.2°, respectively. Variability due to calibrations and STA ranged from 1.4°to 8.1°. This demonstrates the high accuracies possible for IMMS tracking using algorithms designed for specific sports despite larger errors due to modeling.

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Section: Discussionsupporting

confidence: 54%

Section: Introductionmentioning

confidence: 99%

A Novel Complimentary Filter for Tracking Hip Angles During Cycling Using Wireless Inertial Sensors and Dynamic Acceleration Estimation

2014

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“…The output of an air speedometer is related to the angle of attack and angle of sideslip. For a fixed-wing aircraft, the angle of sideslip is usually very little, which can be ignored with very little cost to the quality of the motion acceleration estimation (Mahony et al, 2011). In contrast, when an aircraft is hovering, angle of attack increases to provide the additional centripetal acceleration and maintain the altitude in the meanwhile.…”

Section: T H Ementioning

confidence: 99%

Bridging GPS Outages for Fixed-wing Unmanned Aerial Vehicles

Zhao

Fang

2014

J. Navigation

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This paper reports on a new navigation algorithm for fixed-wing Unmanned Aerial Vehicles (UAVs) to bridge Global Position System (GPS) outages, based on a common navigation system configuration. The ground velocity is obtained from wind-compensated airspeed, and a centripetal force model is introduced to estimate the motion acceleration. Compensated by this acceleration, the gravity vector can be extracted from the accelerometer measurement. Finally, fusing the information of the ground velocity, magnetic heading, barometric height, and gravity vector, the Integrated Navigation System (INS) is reconstructed, and an Extended Kalman Filter (EKF) is used to estimate INS errors. Hardware-in-loop simulation results show that compared with INS-only solutions, the proposed method effectively resists long-term drift of INS errors and significantly improves the accuracy for dynamic navigation during GPS outages. K E Y WO R D S1. Fixed-wing UAV.2. GPS outages. 3. Navigation reconstruction. 4. Kalman filtering.

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“…Instead of using a classical unbias method based on IMU or accelerometer measurements ( [23], [24], [25]), we adopted an original method of estimating the bias based on the eyein-body measurements, which prevent the estimates from drifting. The estimated value of the rate gyro's bias therefore depends on the angleθ er defined by (2) and thus on the ability of the gaze stabilisation system.…”

Section: B An Unbiased Rate Gyromentioning

confidence: 99%

Bio-inspired hovering control for an aerial robot equipped with a decoupled eye and a rate gyro

Manecy

Viollet

Marchand

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Hovering flies are capable of achieving outstanding performances when hovering above flowers for several minutes. A new insect-based hovering control strategy is presented here for accurately stabilizing the position of a sighted twin-rotor equipped with a decoupled eye with a narrow fieldof-view of only a few degrees. The main aim of this paper is to describe how accurately hovering flight above a target can be achieved by means of this fundamental bio-inspired mechanical decoupling system between the eye and the body . The simulated gaze control system implemented on-board the aerial robot has several advantages :

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

Abstract: International audienc

Cited by 39 publications

References 17 publications

A Novel Complimentary Filter for Tracking Hip Angles During Cycling Using Wireless Inertial Sensors and Dynamic Acceleration Estimation

A Novel Complimentary Filter for Tracking Hip Angles During Cycling Using Wireless Inertial Sensors and Dynamic Acceleration Estimation

Bridging GPS Outages for Fixed-wing Unmanned Aerial Vehicles

Bio-inspired hovering control for an aerial robot equipped with a decoupled eye and a rate gyro

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