Dassault Aviation

About: Dassault Aviation is a company organization based out in Paris, France. It is known for research contribution in the topics: Finite element method & Aerodynamics. The organization has 564 authors who have published 645 publications receiving 11000 citations. The organization is also known as: Dassault.

Nonlinear Complementary Filters on the Special Orthogonal Group

Abstract: This paper considers the problem of obtaining good attitude estimates from measurements obtained from typical low cost inertial measurement units. The outputs of such systems are characterized by high noise levels and time varying additive biases. We formulate the filtering problem as deterministic observer kinematics posed directly on the special orthogonal group SO (3) driven by reconstructed attitude and angular velocity measurements. Lyapunov analysis results for the proposed observers are derived that ensure almost global stability of the observer error. The approach taken leads to an observer that we term the direct complementary filter. By exploiting the geometry of the special orthogonal group a related observer, termed the passive complementary filter, is derived that decouples the gyro measurements from the reconstructed attitude in the observer inputs. Both the direct and passive filters can be extended to estimate gyro bias online. The passive filter is further developed to provide a formulation in terms of the measurement error that avoids any algebraic reconstruction of the attitude. This leads to an observer on SO(3), termed the explicit complementary filter, that requires only accelerometer and gyro outputs; is suitable for implementation on embedded hardware; and provides good attitude estimates as well as estimating the gyro biases online. The performance of the observers are demonstrated with a set of experiments performed on a robotic test-bed and a radio controlled unmanned aerial vehicle.

Apparatus and method for graphically oriented aircraft display and control

Abstract: An aircraft display and control system includes a computer, a trackball and selection device, an aeronautical information database, a geographic database, and a plurality of flat panel display devices. The aircraft crew can perform flightplan entry and modification by manipulating graphical information on the display devices using cursor control.