Abstract
This paper addresses the problem of estimating air velocity and gravity direction for small autonomous fixed-wing drones in GNSS11Global Navigation Satellite Systems.-denied environments. The proposed solution uses a minimal sensor suite, relying on Pitot tube measurements and Inertial Measurement Unit (IMU) signals, including only gyrometers and accelerometers. The approach combines the Riccati observer and Equivariant Filter designs, using an over-parametrization technique to design an observer on SO(3)×R3 and subsequently re-project to S2×R3 to estimate the gravity direction. The system’s observability is analyzed, and local exponential stability of the origin of the observer error is demonstrated as long as the aircraft attitude is persistently exciting. The observer was evaluated using simulated and real flight data to showcase the estimator’s performance.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
