Evaluation of Multi Rate Sensors based Attitude & Heading Estimation via Process in the Loop Simulations for Unmanned Aerial Vehicles

Sanketh , Ailneni and Sudesh, K Kashyap and Shantha Kumar, N (2013) Evaluation of Multi Rate Sensors based Attitude & Heading Estimation via Process in the Loop Simulations for Unmanned Aerial Vehicles. In: Symposium on Applied Aerodynamics and Design of Aerospace Vehicle, 21-23 November 2013, Hyderabad.

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    Abstract

    This paper presents an extended Kalman filter (EKF) for estimating the attitude and heading for guidance, navigation and control of Unmanned Aerial Vehicle (UAV). Initially a 7 state EKF estimator (with 4 quaternion states and 3 gyro bias states) is developed for attitude, heading and gyro bias estimation with GPS measurements aiding the inertial measurements and evaluated in Software-in-the-loop simulation (SILS) environment for Black Kite Micro Aerial Vehicle (MAV). Later, attempted to implement the same 7 state EKF on off-the-shelf autopilot board ARDU PILOT MEGA (APM-2.5), but due to processing limitations of the 8 bit ATMEGA processor onboard the APM-2.5 it was not successful and hence reduced order EKF (4 quaternion state without estimating rate gyros biases) is implemented. The 4 state EKF on APM-2.5 board is first evaluated with UAV flight test data measured by IMU, GPS and magnetometer sensors onboard the APM-2.5 and compared the attitude estimates with reference ARDU Direction Cosine Matrix (DCM) based estimates. Later, EKF performance has been evaluated in Process-in-the-Loop simulation (PILS) setup and compared the estimates with true attitudes. Results indicate that the EKF algorithm showing more promising performance compared to ARDU DCM based estimator.

    Item Type: Conference or Workshop Item (Paper)
    Uncontrolled Keywords: EKF, APM, PILS, DCM, Quaternions, MEMS, AHRS, COG, AWGN
    Subjects: AERONAUTICS > Avionics & Aircraft Instrumentation
    Division/Department: Flight Meachnics and Control Division, Flight Mechanics and Control Division, Flight Mechanics and Control Division
    Depositing User: Dr Sudesh Kumar Kashyap
    Date Deposited: 04 Dec 2013 11:49
    Last Modified: 06 Nov 2015 13:45
    URI: http://nal-ir.nal.res.in/id/eprint/11852

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