EuroGNC 2019 Paper Abstract

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Paper ThM3.2

Meyer, Johann (Delft University of Technology), Padayachee, Kreelan (Incomar Aerospace and Defence Systems), Broughton, Benjamin Albert (Incomar Aerospace and Defence Systems)

A Robust Complementary Filter Approach for Attitude Estimation of Unmanned Aerial Vehicles Using AHRS

Scheduled for presentation during the Regular Session "Estimation 2" (ThM3), Thursday, April 4, 2019, 11:00−11:30, BL281.2

5th CEAS Conference on Guidance, Navigation and Control, April 3-5, 2019, Milano, Italy

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Sensor fusion, Inertial navigation, Mini/Micro air vehicles

Abstract

Most attitude filters utilise the accelerometer as a vector measurement of gravity to estimate pitch and roll angles; however, during accelerated flight, this assumption does not hold. This paper develops a robust attitude filter model that determines when the accelerometers can be used as vector measurements by using a time-dependent model of steadiness. Furthermore, a gyro measurement model is developed using a Gaussian random walk model as the basis for bounding bias estimates and rejecting improbable estimates that arise from slow dynamics or transitioning from steady to dynamic motion. Monte-Carlo simulations using test cases with dynamic motion were performed to verify its performance. The bias is accurately tracked and gyro integration performance during unsteady motion ultimately improved. Moreover, roll dynamics were tracked more accurately than current state-of-the-art complementary filters.

 

 

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