This paper provides experimental validation of a uniformly semi-globally exponentially stable (USGES) non-linear observer for estimation of attitude, gyro bias, position, velocity and acceleration of a fixed-wing Unmanned Aerial Vehicle (UAV). The available sensors are an Inertial Measurement Unit (IMU), a Global Positioning System (GPS) receiver, a video camera, and an inclinometer. The UAV is flown with the sensor payload and all data is stored locally on a hard drive, which is recovered at the end of the flight. The nonlinear observer is then tested offline with the recorded sensor data. An optical flow algorithm is used to calculate the UAV velocity based on the camera images, which is used as a reference vector of the body-fixed velocity in the attitude observer. The results are compared with an Extended Kalman Filter (EKF) and illustrate that the estimates of the unmeasured states converge accurately to the correct values, and that the estimates of the measured states have less noise than the measurements.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Experimental validation of a uniformly semi-globally exponentially stable non-linear observer for GNSS- and camera-aided inertial navigation for fixed-wing UAVs


    Beteiligte:
    Fusini, Lorenzo (Autor:in) / Hosen, Jesper (Autor:in) / Helgesen, Hakon H. (Autor:in) / Johansen, Tor A. (Autor:in) / Fossen, Thor I. (Autor:in)


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    3569913 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    A globally exponentially stable non-linear velocity observer for vision-aided UAV dead reckoning

    Fusini, Lorenzo / Johansen, Tor A. / Fossen, Thor I. | IEEE | 2016


    Globally exponentially stable observer for vision-based range estimation

    Dani, A.P. / Fischer, N.R. / Kan, Z. et al. | Tema Archiv | 2012


    A Vision-aided Nonlinear Observer for Fixed-wing UAV Navigation

    Hosen, Jesper / Helgesen, Håkon H. / Fusini, Lorenzo et al. | AIAA | 2016