Fixed-wing uav attitude estimation using single antenna GPS signal strength measurements

Jason Gross, Yu Gu, Matthew Rhudy

Research output: Contribution to journalArticlepeer-review

12 Scopus citations


This article considers a novel approach to using global positioning system (GPS) signal strength readings and estimated velocity vector for estimating the attitude of a small fixed-wing unmanned aerial vehicle (UAV). This approach has the benefit being able to estimate full position, velocity and attitude states of a UAV using only the data from a single GPS receiver and antenna. Two different approaches for utilizing GPS signal strength within measurement updates for UAV attitude in a nonlinear Kalman filter are discussed and assessed using recorded UAV flight data. Comparisons of UAV pitch and roll estimates against measurements from a high-grade mechanical gyroscope are used to show that approximately 5° error with respect to both mean and standard-deviation on both axes is achievable.

Original languageEnglish (US)
Article number14
Issue number2
StatePublished - Jun 1 2016

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering


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