Title:
Inertial Attitude and Position Reference System Development for a Small UAV
Inertial Attitude and Position Reference System Development for a Small UAV
Authors
Jung, Dongwon
Tsiotras, Panagiotis
Tsiotras, Panagiotis
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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.
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2007-05
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