NDLI: Robust UAV Attitude Estimation Using a Cascade of Nonlinear Observer and Linearized Kalman Filter

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Robust UAV Attitude Estimation Using a Cascade of Nonlinear Observer and Linearized Kalman Filter

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Gudmundsson, Valthor Kristinsson, Haukur Petersen, Soren Hasan, Agus
Copyright Year	2018
Abstract	This paper presents a new approach for Unmanned Aerial Vehicle (UAV) attitude estimation using a cascade of nonlinear observer and linearized Kalman filter. The nonlinear observer is globally asymptotically stable and is designed using linear matrix inequalities (LMI). The exogenous signal from the nonlinear observer is used to generate a linearized model for the Kalman filter. The method is implemented for attitude estimation of a quadcopter. The nonlinear model is derived from the Newton-Euler equations. The nonlinear model is locally Lipschitz due to the cross and dot products between the angular and linear velocity vectors. The attitude estimation from the dynamical system presented in this paper can be used as a module for fault detection. Simulations in Gazebo on a PX4 using Software In The Loop (SITL) shows the proposed method is able to estimate the attitude of a quadcopter accurately.
Sponsorship	Dynamic Systems and Control Division
File Format	PDF
ISBN	9780791851913
DOI	10.1115/DSCC2018-9123
Volume Number	Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control
Conference Proceedings	ASME 2018 Dynamic Systems and Control Conference
Language	English
Publisher Date	2018-09-30
Publisher Place	Atlanta, Georgia, USA
Access Restriction	Subscribed
Subject Keyword	Flaw detection Simulation Cascades (fluid dynamics) Computer software Dynamic systems Unmanned aerial vehicles Engineering simulation Linear matrix inequalities Signals Kalman filters
Content Type	Text
Resource Type	Article

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