TY - GEN
T1 - UAV attitude, heading, and wind estimation using GPS/INS and an air data system
AU - Rhudy, Matthew
AU - Larrabee, Trenton
AU - Chao, Haiyang
AU - Gu, Yu
AU - Napolitano, Marcello R.
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - A new attitude, heading, and wind estimation algorithm is proposed, which incorporates measurements from an air data system to properly relate predicted attitude information with aircraft velocity information. Experimental Unmanned Aerial Vehicle (UAV) flight data was used to validate the proposed approach. The experimental results demonstrated effective estimation of the roll, pitch, yaw, and heading angles, and provided a smoothed estimate of the angle of attack and sideslip angles. The wind estimation results were validated with respect to measurments provided by a local weather station. It was shown that this new method of attitude estimation is effective in distinguishing the yaw and heading angles of the aircraft, properly regulating the attitude estimates with air data system measurements, and provding a reasonable estimate of the local wind field.
AB - A new attitude, heading, and wind estimation algorithm is proposed, which incorporates measurements from an air data system to properly relate predicted attitude information with aircraft velocity information. Experimental Unmanned Aerial Vehicle (UAV) flight data was used to validate the proposed approach. The experimental results demonstrated effective estimation of the roll, pitch, yaw, and heading angles, and provided a smoothed estimate of the angle of attack and sideslip angles. The wind estimation results were validated with respect to measurments provided by a local weather station. It was shown that this new method of attitude estimation is effective in distinguishing the yaw and heading angles of the aircraft, properly regulating the attitude estimates with air data system measurements, and provding a reasonable estimate of the local wind field.
UR - http://www.scopus.com/inward/record.url?scp=85088759686&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85088759686&partnerID=8YFLogxK
U2 - 10.2514/6.2013-5201
DO - 10.2514/6.2013-5201
M3 - Conference contribution
AN - SCOPUS:85088759686
SN - 9781624102240
T3 - AIAA Guidance, Navigation, and Control (GNC) Conference
BT - AIAA Guidance, Navigation, and Control (GNC) Conference
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control (GNC) Conference
Y2 - 19 August 2013 through 22 August 2013
ER -