Title:
Inertial Attitude and Position Reference System Development for a Small UAV
Inertial Attitude and Position Reference System Development for a Small UAV
dc.contributor.author | Jung, Dongwon | |
dc.contributor.author | Tsiotras, Panagiotis | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | |
dc.date.accessioned | 2011-02-11T16:29:47Z | |
dc.date.available | 2011-02-11T16:29:47Z | |
dc.date.issued | 2007-05 | |
dc.description | Copyright © 2007 by D. Jung and P. Tsiotras. Published by the American Institute of Aeronautics and Astronautics, Inc., with permission. | en_US |
dc.description.abstract | This article presents an inexpensive inertial attitude and position reference system for a small unmanned aerial vehicle (UAV) that utilizes low cost inertial sensors in conjunction with a global positioning system (GPS) sensor. The attitude estimates are obtained from a complementary filter and a Kalman filter by combining the measurements from the inertial sensors with the supplementary attitude information from GPS. A method is proposed to deal with the GPS data latency and momentary outages. The inertial position is estimated from a separate Kalman filter that is cascaded after the attitude filters in order to reduce the computational overhead. Numerical simulation results and hardware validation show that this is a simple, yet effective method for attitude and position estimation, suitable for real-time implementation on a small UAV. | en_US |
dc.identifier.citation | Jung, D., and Tsiotras, P., "Inertial Attitude and Position Reference System Development for a Small UAV,'' AIAA Infotech at Aerospace, Rohnert Park, CA, May 7-10, 2007, AIAA Paper 07-2763 | en_US |
dc.identifier.other | AIAA Paper 07-2768 | |
dc.identifier.uri | http://hdl.handle.net/1853/36876 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | American Institute of Aeronautics and Astronautics, Inc. | |
dc.subject | Unmanned aerial vehicles | en_US |
dc.subject | Global positioning system sensors | en_US |
dc.title | Inertial Attitude and Position Reference System Development for a Small UAV | en_US |
dc.type | Text | |
dc.type.genre | Paper | |
dspace.entity.type | Publication | |
local.contributor.author | Tsiotras, Panagiotis | |
local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
relation.isAuthorOfPublication | bd4969ec-a869-452f-81f1-9f2dc8118b3c | |
relation.isOrgUnitOfPublication | 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1 |