Tham khảo tài liệu 'innovations in intelligent machines 1 - javaan singh chahl et al (eds) part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | State Estimation for Micro Air Vehicles Randal W. Beard Department of Electrical and Computer Engineering Brigham Young University Provo Utah beard@ Abstract. Autopilots for small UAVs are generally equipped with low fidelity sensors that make state estimation challenging. In addition the sensor suite does not include units that measure angle-of-attack and side-slip angles. The achievable flight performance is directly related to the quality of the state estimates. Unfortunately the computational resources on-board a small UAV are generally limited and preclude large state Kalman filters that estimate all of the states and sensor biases. In this chapter we describe simple models for the sensors typically found on-board small UAVs. We also describes a simple cascaded approach to state estimation that has been extensively flight tested using the Kestrel autopilot produced by Procerus Technologies. Our intention is to provide a tutorial of continuous-discrete Kalman filtering with application to state estimation for small UAVs. High fidelity estimates of the position velocity attitude and angular rates are critical for successful guidance and control of intelligent UAVs. The achievable fidelity of the state estimates depends upon the quality of the sensors on-board the UAV. Unfortunately high quality sensors are usually heavy and expensive. This is particularly true for sensors that directly measure the attitude of the UAV. In this chapter we focus on the problem of state estimation using light weight inexpensive low quality sensors. In doing so our target platforms are small and micro air vehicles with limited payload capacity. In recent years several autopilots for small UAVs have appeared on the commercial market. These include the Procerus Kestrel 4 the Cloudcap Piccolo 2 and the Micropilot MP2028 3 . Each of these autopilots use the following sensors rate gyros accelerometers pressure sensors and GPS. We will assume throughout this chapter that these .
