Proceedings ArticleDOI
A complementary filter for attitude estimation of a fixed-wing UAV
Mark Euston,Paul Coote,Robert Mahony,Jonghyuk Kim,Tarek Hamel +4 more
- pp 340-345
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TLDR
A nonlinear complementary filter is proposed that combines accelerometer output for low frequency attitude estimation with integrated gyrometer output for high frequency estimation that is evaluated against the output from a full GPS/INS that was available for the data set.Abstract:
This paper considers the question of using a nonlinear complementary filter for attitude estimation of fixed-wing unmanned aerial vehicle (UAV) given only measurements from a low-cost inertial measurement unit. A nonlinear complementary filter is proposed that combines accelerometer output for low frequency attitude estimation with integrated gyrometer output for high frequency estimation. The raw accelerometer output includes a component corresponding to airframe acceleration, occurring primarily when the aircraft turns, as well as the gravitational acceleration that is required for the filter. The airframe acceleration is estimated using a simple centripetal force model (based on additional airspeed measurements), augmented by a first order dynamic model for angle-of-attack, and used to obtain estimates of the gravitational direction independent of the airplane manoeuvres. Experimental results are provided on a real-world data set and the performance of the filter is evaluated against the output from a full GPS/INS that was available for the data set.read more
Citations
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Journal ArticleDOI
Visual-inertial navigation, mapping and localization: A scalable real-time causal approach
Eagle Jones,Stefano Soatto +1 more
TL;DR: An integrated approach to ‘loop-closure’, that is the recognition of previously seen locations and the topological re-adjustment of the traveled path, is described, where loop-closure can be performed without the need to re-compute past trajectories or perform bundle adjustment.
Journal ArticleDOI
Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs
TL;DR: A novel complementary filter for MAVs that fuses together gyroscope data with accelerometer and magnetic field readings and outperforms other common methods, using publicly available datasets with ground-truth data recorded during a real flight experiment of a micro quadrotor helicopter.
Journal ArticleDOI
Time-varying formation control for unmanned aerial vehicles with switching interaction topologies
TL;DR: Based on the common Lyapunov functional approach and algebraic Riccati equation technique, an approach to design the formation protocol is presented in this paper, where an explicit expression of the formation reference function is derived to describe the macroscopic movement of the whole UAV formation.
Patent
Unmanned aerial vehicle and operations thereof
TL;DR: In this paper, a method and apparatus for unmanned aerial vehicles (UAVs) with improved reliability is presented. But the method is limited to the case of UAVs.
Journal ArticleDOI
A Linear Kalman Filter for MARG Orientation Estimation Using the Algebraic Quaternion Algorithm
TL;DR: A linear Kalman filter for magnetic angular rate and gravity sensors that processes angular rate, acceleration, and magnetic field data to obtain an estimation of the orientation in quaternion representation.
References
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Book
Aircraft Control and Simulation
Brian L. Stevens,Frank L. Lewis +1 more
TL;DR: Equations of Motion Building the Aircraft Model Basic Analytical and Computational Tools Aircraft Dynamics and Classical Design Techniques Modern Design Techniques Robustness and Multivariable Frequency-Domain Techniques Digital Control Appendices Index.
Journal ArticleDOI
Nonlinear Complementary Filters on the Special Orthogonal Group
TL;DR: 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.
Journal ArticleDOI
Survey of nonlinear attitude estimation methods
TL;DR: A survey of modern nonlinear filtering methods for attitude estimation based on the Gaussian assumption that the probability density function is adequately specified by its mean and covariance is provided.
Journal ArticleDOI
Novel quaternion Kalman filter
TL;DR: In this paper, the attitude-quaternion and gyro random drifts from vector measurements are estimated using a Kalman filter, and the covariance matrices of the system state-dependent noises are derived.
Journal ArticleDOI
A globally convergent angular velocity observer for rigid body motion
TL;DR: In this article, a novel angular velocity/angular momentum observer for rigid body motion is presented, and it is shown that the observer estimates converge globally and that the convergence is eventually exponential.