TY - GEN
T1 - Attitude estimation of miniature unmanned helicopter using unscented Kalman Filter
AU - Pan, Yue
AU - Song, Ping
AU - Li, Kejie
AU - Zhou, Yingcai
AU - Wang, Yiping
PY - 2011
Y1 - 2011
N2 - Attitude Estimation is critical for autonomous flight of aircraft. In this paper, an attitude estimation method for Miniature Unmanned Helicopter (MUH) is presented. The method is based on Unscented Kalman Filter (UKF). It employs Quaternion to represent rotary motion. It utilizes information from three low-cost single-axis MEMS gyroscopes, two dual-axis accelerometers and a three-axis electronic compass. System state equations are established on quaternion vector and gyro bias vector while measurement equations are based on measured attitude angles. The method fuses information from several different kinds of sensors to get an optimal result. Simulations and real flight experiments are carried out to verify the validity of the method. The results show that the method overcomes the drawbacks of each sensor and is suitable for application on MUH. Compared to attitude estimation method using Extended Kalman Filter (EKF), the method avoids the calculation of Jacobian matrices.
AB - Attitude Estimation is critical for autonomous flight of aircraft. In this paper, an attitude estimation method for Miniature Unmanned Helicopter (MUH) is presented. The method is based on Unscented Kalman Filter (UKF). It employs Quaternion to represent rotary motion. It utilizes information from three low-cost single-axis MEMS gyroscopes, two dual-axis accelerometers and a three-axis electronic compass. System state equations are established on quaternion vector and gyro bias vector while measurement equations are based on measured attitude angles. The method fuses information from several different kinds of sensors to get an optimal result. Simulations and real flight experiments are carried out to verify the validity of the method. The results show that the method overcomes the drawbacks of each sensor and is suitable for application on MUH. Compared to attitude estimation method using Extended Kalman Filter (EKF), the method avoids the calculation of Jacobian matrices.
KW - Attitude estimation
KW - MUH
KW - Unscented Kalman Filter
UR - http://www.scopus.com/inward/record.url?scp=84861645855&partnerID=8YFLogxK
U2 - 10.1109/TMEE.2011.6199503
DO - 10.1109/TMEE.2011.6199503
M3 - Conference contribution
AN - SCOPUS:84861645855
SN - 9781457717017
T3 - Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
SP - 1548
EP - 1551
BT - Proceedings 2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
T2 - 2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011
Y2 - 16 December 2011 through 18 December 2011
ER -