Abstract
AbstractThis paper proposes a backup attitude estimation scheme for small fixed‐wing unmanned aerial vehicles (UAVs) in the event of gyroscopic failure. The attitude is propagated in terms of 3 degrees‐of‐freedom (DoF) aircraft dynamics. The errors in attitude propagation are updated using indirect attitude information obtained from accelerations as sensed by onboard accelerometers and a global positioning system (GPS) receiver. In the event of gyroscopic failure, large uncertainties are introduced into the attitude propagation model. Such uncertainties in states and parameters are modeled as norm‐bound uncertainties and a discrete‐time robust extended Kalman filter (REKF) is implemented to estimate the attitude of the UAV.
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