Title:
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
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