Abstract
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 language | English (US) |
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Article number | 14 |
Journal | Aerospace |
Volume | 3 |
Issue number | 2 |
DOIs | |
State | Published - Jun 1 2016 |
All Science Journal Classification (ASJC) codes
- Aerospace Engineering