Design and Evaluation of UAV Flow Angle Estimation Filters
| Autor: | Yu Gu, Harold P. Flanagan, Haiyang Chao, Steven G. Hagerott, Pengzhi Tian |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
020301 aerospace & aeronautics
Wing Inertial frame of reference Noise measurement Angle of attack Computer science business.industry Aerospace Engineering 02 engineering and technology Flight test Root mean square Extended Kalman filter 0203 mechanical engineering Control theory Global Positioning System Electrical and Electronic Engineering business |
| Zdroj: | IEEE Transactions on Aerospace and Electronic Systems. 55:371-383 |
| ISSN: | 2371-9877 0018-9251 |
| DOI: | 10.1109/taes.2018.2852359 |
| Popis: | This paper presents the design, implementation, and evaluation of four filters for the estimation of angle of attack (AOA) and angle of sideslip (AOS) of small unmanned aerial vehicles (UAVs). Specifically, two novel filters (a complementary filter and an extended Kalman filter) are proposed and evaluated without using direct flow angle and Global Positioning System measurements; two existing AOA/AOS filters are also implemented and evaluated. All filters are designed with minimal inputs and states to ensure the ease of implementation, simplicity of tuning, and computation efficiency. Both simulation and UAV flight test results show the performance of the proposed filters. Especially, flight test results from two different UAVs (a T-tail UAV and a flying wing UAV) show that the root mean square errors of estimated inertial AOA and AOS are less than 1.5 $^\circ$ under nominal flight conditions and around 2 $^\circ$ under aggressive maneuvers compared with direct flow angle measurements. |
| Databáze: | OpenAIRE |
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