DC Field | Value | Language |
---|---|---|
dc.contributor.author | Youn, Wonkeun | ko |
dc.contributor.author | Rhudy, Matthew B. | ko |
dc.contributor.author | Cho, Am | ko |
dc.contributor.author | Myung, Hyun | ko |
dc.date.accessioned | 2020-01-22T03:20:04Z | - |
dc.date.available | 2020-01-22T03:20:04Z | - |
dc.date.created | 2019-11-22 | - |
dc.date.created | 2019-11-22 | - |
dc.date.issued | 2020-02 | - |
dc.identifier.citation | IEEE SENSORS JOURNAL, v.20, no.3, pp.1456 - 1472 | - |
dc.identifier.issn | 1530-437X | - |
dc.identifier.uri | http://hdl.handle.net/10203/271727 | - |
dc.description.abstract | This paper proposes a novel robust attitude estimation algorithm for a small unmanned aerial vehicle (UAV) in the absence of GPS measurements. A synthetic sideslip angle (SSA) measurement formulated for use under the zero-angle assumption is newly proposed for a UAV without angle-of-attack (AOA)/SSA sensors to enhance the state estimation performance during a GPS outage. In addition, the nongravitational acceleration is estimated using the proposed Kalman filter and is then subtracted from the raw acceleration to yield a reliable gravity estimate. Then, a fuzzy-logic-aided adaptive measurement covariance matching algorithm is devised to adaptively reduce the weight given to disturbed acceleration and magnetic field measurements in the attitude estimation, yielding the fuzzy adaptive error-state Kalman filter (FAESKF) algorithm. Experimental flight results demonstrate that the proposed FAESKF algorithm achieves a remarkable improvement in attitude estimation compared to the conventional algorithm. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Fuzzy Adaptive Attitude Estimation for a Fixed-Wing UAV with a Virtual SSA Sensor During a GPS Outage | - |
dc.type | Article | - |
dc.identifier.wosid | 000522354200038 | - |
dc.identifier.scopusid | 2-s2.0-85078531522 | - |
dc.type.rims | ART | - |
dc.citation.volume | 20 | - |
dc.citation.issue | 3 | - |
dc.citation.beginningpage | 1456 | - |
dc.citation.endingpage | 1472 | - |
dc.citation.publicationname | IEEE SENSORS JOURNAL | - |
dc.identifier.doi | 10.1109/JSEN.2019.2947489 | - |
dc.contributor.localauthor | Myung, Hyun | - |
dc.contributor.nonIdAuthor | Rhudy, Matthew B. | - |
dc.contributor.nonIdAuthor | Cho, Am | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Attitude estimation | - |
dc.subject.keywordAuthor | error-state Kalman filter (ESKF) | - |
dc.subject.keywordAuthor | fuzzy | - |
dc.subject.keywordAuthor | GPS outage | - |
dc.subject.keywordAuthor | inertial measurement unit (IMU) | - |
dc.subject.keywordAuthor | navigation | - |
dc.subject.keywordAuthor | unmanned aerial vehicle (UAV) | - |
dc.subject.keywordPlus | EXTENDED KALMAN FILTER | - |
dc.subject.keywordPlus | SINGLE-ANTENNA GPS | - |
dc.subject.keywordPlus | STATE ESTIMATION | - |
dc.subject.keywordPlus | AERIAL VEHICLE | - |
dc.subject.keywordPlus | ORIENTATION | - |
dc.subject.keywordPlus | MAGNETOMETER | - |
dc.subject.keywordPlus | AHRS | - |
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