Attitude and airdata estimation

摘要

Accurate attitude estimation is essential for basic flying and stable control of Unmanned Aerial Vehicles (UAV). The Extended Kalman Filter (EKF) is a potential candidate to fuse multiple low-cost sensor information for attitude estimation of UAVs. The estimation of Angle of Attack (AoA), Angle of Side Slip (AoSS), True Air Speed (TAS) is essential to design a better control law for the UAVs. This paper demonstrates the application of EKF for attitude estimation, AoA, AoSS and TAS estimation. The important contribution of the paper is that the demonstration is carried out using kinematic simulation platform for various maneuvers to understand the limitations of EKF for the application.