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Caterina Grillo1 and Francesco P. Vitrano2 Universit degli Studi di Palermo, Palermo, Italy An Extended Kalman Filter is designed in order to estimate both state variables and wind velocity vector at the same time for a non conventional unmanned aircraft. The proposed observer uses few measurements, obtained by means of either conventional simple air data sensors or a low cost GPS. To cope with the low rate of the GPS with respect to the other sensors, the EKF algorithm has been modified to allow for a dual rate measurement model. State propagation is obtained by means of an accurate six degrees of freedom nonlinear model of the aircraft dynamics. To obtain joint estimation of state and disturbance, wind velocity components are included in the set of the state variables. Both stochastic and deterministic turbulence models have been applied to the studied aircraft flying in unsymmetrical flight. The obtained results have shown the effectiveness of the designed observer. Besides, the accurate state reconstruction allows to use the estimated variables for control purposes.
Nomenclature
Fx, Fy, Fz x, u, d, y x, d , , T K A, H Q, R P = = = = = = = = = = = = components of the resultant of aerodynamic and thrust forces in body axes aircraft state, input, disturbance and output vector process noise vectors in state and disturbance dynamics augmented state and measurement vector augmented system process and measurement noise vectors GPS sampling interval Kalman gain augmented system Jacobian matrices estimator parameters solution of the Riccati differential equation root mean square measurement error on the measurement i position estimation error
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I. Introduction
s it is well known, UAVs are today employed for several civil and military missions, such as territorial surveillance (forest fire detection, volcanoes monitoring, etc.), law enforcement, disaster assistance, frontier surveillance, agricultural surveying, power-line monitoring, archaeological sites surveillance and many others1,2,3. Many advanced flight control methods have been developed in order to meet increasing demands on the UAV performance. A lot of methods requires knowledge of the entire state of the aircraft. Hence, extracting accurate information on the aircraft state from available measurements is the central problem in the design of navigation systems for unmanned aircraft4, and it has been object of extensive research. Particular attention has been paid on the problem of attitude and angular rate estimation. Kingston and Beard5 use an Extended Kalman Filter to estimate attitude, angular rate and rate gyro biases of a small UAV from rate gyro and GPS measurements. They also provide their algorithm with the capability of compensating for latency introduced by the GPS measurements. Tortora et al.6
1
Associate Professor, Dipartimento di Ingegneria dei Trasporti, Universit degli Studi di Palermo, Viale delle Scienze al P.co dOrleans, Ed. 8, 90128 Palermo, Italy, Member AIAA 2 Ph.D. Student, Dipartimento di Ingegneria dei Trasporti, Universit degli Studi di Palermo, Viale delle Scienze al P.co dOrleans, Ed. 8, 90128 Palermo, Italy, Member AIAA 1 American Institute of Aeronautics and Astronautics
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propose a method to obtain estimates of the body angular rates of a spacecraft in Low Earth Orbit using magnetometer data as the only measurements. An EKF is used as estimation algorithm, which employs an analytical solution of the Euler equations to obtain fast state propagation. Webb et al.7 address the problem of estimating velocity, angular rate, roll and bank angles of a Micro Aerial Vehicle (MAV) by means of a vision based approach. The Implicit Extended Kalman Filter (IEKF), (a modified EKF which allows for implicit measurement models), is used as estimation algorithm, while state propagation is obtained by dynamic modelling of the MAV. In Ref. 8 a two stage architecture is proposed, based either on the Ideal State Estimator and the constant gain Kalman Filter. This one which is capable of performing accurate state estimation even if any single failure occurs in a double redundant sensing equipment. Further relevant problems in UAVs applications concern the flight in turbulent air. They are, often significantly affected by wind disturbance, both due to the relatively small dimensions of such aircraft and to their mission profiles. When dealing with strong wind turbulence effects on aircraft motion, estimation of the unknown wind velocity vector has often been performed along with state estimation. This allows providing the flight controllers with more accurate and complete information on vehicle dynamics. In Ref. 9, an EKF is designed to estimate state and wind velocity for a subsonic jet transport aircraft in symmetrical flight in wind shear. Continuous inertial and air measurements are used for the state update while the propagation is obtained from a nonlinear aircraft model. In Ref. 10, estimation of both the state and wind intensity is performed for a tethered kite used for wind energy extraction purposes. The square root Unscented Kalman Filter (UKF) is employed as the estimation algorithm, using IMU and GPS measurements. In a previous paper11 authors have designed an EKF in order to estimate both longitudinal variables and wind velocities for a non conventional UAV12 flying in presence of wind disturbances. In this paper, an EKF is designed for estimating the full state and the wind velocity vector of the same UAV in unsymmetrical flight in presence of wind disturbances. State propagation is obtained by means of an accurate 6 DOF nonlinear model of the UAV and a small set of variables easy measurable with conventional, low cost sensors is considered as the measurement vector. In order to efficiently use data obtained from low rate GPS and other high rate sensors, the EKF algorithm has been modified to allow for a dual rate measurement model. The present paper aims at estimating turbulence and state at the same time, in order to obtain accurate information on the aircraft motion to be employed for processing advanced control laws. The structure of this paper is as follows. Section II illustrates the mathematical model of the studied UAV, in terms of state and output equations; section III gives the details of the estimation algorithm employed and of its implementation; section IV explains the procedure used to tune the parameters of the proposed estimator and section VI presents the results of numerical simulations, which show the performances of the designed EKF. Section VII concludes the paper, discussing future research directions.
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