dc.contributor.author | Borup, Kasper Trolle | |
dc.contributor.author | Stovner, Bård Nagy | |
dc.contributor.author | Fossen, Thor I. | |
dc.contributor.author | Johansen, Tor Arne | |
dc.date.accessioned | 2019-11-25T11:19:20Z | |
dc.date.available | 2019-11-25T11:19:20Z | |
dc.date.created | 2019-11-23T15:07:53Z | |
dc.date.issued | 2019 | |
dc.identifier.issn | 1063-6536 | |
dc.identifier.uri | http://hdl.handle.net/11250/2630233 | |
dc.description.abstract | This paper presents two Kalman filter approaches for correcting air data systems providing relative velocity measurements with an additive constant or slowly time-varying bias for fixed-wing unmanned aerial vehicles (UAVs). In addition to the air data system, both estimators rely on a standard sensor suite consisting of a GNSS receiver, an IMU, and a heading reference. Furthermore, the estimators are based on kinematics and do not require a model of the UAV. The two estimators are in the noise-free case proven to have globally exponentially stable (GES) equilibrium points of the error dynamics if provided with persistence of excitation (PE) of the angular velocity of the UAV. The estimators are verified through simulation and using experimental flight data. The relative velocity measurements in the experimental flight results are provided by an array of pressure sensors embedded in the surface of the UAV combined with a neural network algorithm. The results indicate that a certain amount of PE is needed in order to have converging bias estimates for turbulent wind conditions. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.title | Kalman Filters for Air Data System Bias Correction for a Fixed-Wing UAV | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.journal | IEEE Transactions on Control Systems Technology | nb_NO |
dc.identifier.doi | 10.1109/TCST.2019.2931672 | |
dc.identifier.cristin | 1751344 | |
dc.relation.project | Norges forskningsråd: 261791 | nb_NO |
dc.relation.project | Norges forskningsråd: 221666 | nb_NO |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 2 | |