Öman Lundin, Gustav (ONERA), Mouyon, Philippe (ONERA), Manecy, Augustin (Institute of the Movement Sciences)

Experimental Study of an Attitude Estimator with Measurement Disturbance Rejection

Scheduled for presentation during the Regular Session "Estimation 2" (ThM3), Thursday, April 4, 2019, 10:30−11:00, 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 April 25, 2024

Abstract

Attitude estimation is a corner stone of the flight stability or safety for UAVs. Even if a large panorama of efficient solutions exists, it is still difficult to guarantee the accuracy of the attitude filter during common disturbances (large accelerations or local magnetic disturbances). The integrity of the covariance (accuracy estimation) is also a difficult point in both nominal and disturbed case. This paper introduces a fault tolerant architecture for attitude estimation. It is intended to handle sensor malfunctions and unexpected environmental disturbances. The estimation architecture consists of three distinctive parts: a set of sensor models to detect incoherent or corrupted sensor measurements; a sensor data health check which activates or deactivates the state correction of the attitude filter; an attitude filter including a saturated gyroscope bias model and a decoupling between the roll/pitch and yaw angles. Simulation and experimental results show that the proposed architecture handles both inertial acceleration disturbances and magnetic disturbances without the need for speed or position measurements, or drag force models.