Flight-Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation

Flight-Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation

In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman filter (UKF), and evaluated with respect to performance and complexity. The contributions of this study are that attitude estima...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:IEEE transactions on aerospace and electronic systems 2012-07, Vol.48 (3), p.2128-2139
Hauptverfasser: Gross, J. N., Yu Gu, Rhudy, M. B., Gururajan, S., Napolitano, M. R.
Format: Artikel
Sprache:eng
Schlagworte:
Acceleration
Aircraft
Aircraft components
Algorithms
Electronic systems
Geographic information systems
Global Positioning System
Gyroscopes
Inertial navigation
Noise
Satellite navigation systems
Sensor fusion
Vectors
Velocity measurement
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman filter (UKF), and evaluated with respect to performance and complexity. The contributions of this study are that attitude estimates are compared with independent measurements provided by a mechanical vertical gyroscope using 23 diverse sets of flight data, and that a fundamental difference between EKF and UKF with respect to linearization is evaluated.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2012.6237583