NDLI: Robust state estimation for small unmanned airplanes

Content Provider	IEEE Xplore Digital Library
Author	Leutenegger, S. Melzer, A. Alexis, K. Siegwart, R.
Copyright Year	2014
Description	Author affiliation: Autonomous Syst. Lab. (ASL), ETH Zurich, Zurich, Switzerland (Leutenegger, S.; Melzer, A.; Alexis, K.; Siegwart, R.)
Abstract	As a basis for autonomous operation, Unmanned Aerial Systems (UAS) require an on-board state estimation that achieves both high accuracy as well as robustness with respect to certain conditions. We present a multi-sensor fusion framework based on Extended Kalman Filtering (EKF) which is light-weight enough to run on-board small unmanned airplanes using measurements from a MEMS based Inertial Measurement Unit (IMU), static and dynamic pressure sensors, as well as GPS (position and velocity) and a 3D magnetic compass. The on-board state estimator continuously estimates position, velocity, attitude and heading, IMU biases as well as the 3D wind vector in a tightly-coupled manner. In addition, airplane Angle of Attack (AoA) as well as sideslip angle can be derived by involving an aerodynamics model. The resulting infrastructure allows for unbiased orientation, airspeed and AoA tracking even in the case of GPS outages over extended periods of time. It can furthermore detect and reject outliers in sensor readings using Mahalanobis distance checks. We validate the proposed method with flight data from a small unmanned airplane: we demonstrate robustness w.r.t. outliers and GPS outages by disabling or corrupting respective flight data in post processing analyses.
Starting Page	1003
Ending Page	1010
File Size	1644416
Page Count	8
File Format	PDF
ISBN	9781479974092
DOI	10.1109/CCA.2014.6981466
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Airplanes Aerodynamics Vectors Estimation Pressure measurement Jacobian matrices
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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