dc.contributor.author | Wenz, Andreas Wolfgang | |
dc.contributor.author | Johansen, Tor Arne | |
dc.date.accessioned | 2020-11-10T09:31:44Z | |
dc.date.available | 2020-11-10T09:31:44Z | |
dc.date.created | 2020-11-06T15:41:14Z | |
dc.date.issued | 2020 | |
dc.identifier.isbn | 978-1-7281-4278-4 | |
dc.identifier.uri | https://hdl.handle.net/11250/2687059 | |
dc.description.abstract | We present a real-time implementation of an estimation algorithm for angle of attack, airspeed and wind velocities estimation on a single board computer. The estimator uses only sensor data from a standard fixed-wing UAV autopilot, which consists of a Global Navigation Satellite System receiver, an inertial measurement unit and a pitot-static tube. This sensor data is fused with a combination of kinematic, aerodynamic and stochstic wind models in a nonlinear moving horizon estimator using numerical optimization. An algorithmic differentiation toolbox and automatic code generation is used to create a realtime capable estimator which is able to run within a UAV on an on-board computer. Hardware in the Loop simulation results show that the latency of the estimator is significantly below the expected wind gust period and gives low root-mean-square estimation errors for angle of attack (0.29◦ ) , airspeed (0.21m/s) and wind velocities (0.44m/s). | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | 2020 International Conference on Unmanned Aircraft Systems (ICUAS) | |
dc.title | Real-Time Moving Horizon Estimation of Air Data Parameters and Wind Velocities for fixed-wing UAVs | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.identifier.cristin | 1845737 | |
dc.relation.project | Norges forskningsråd: 282004 | en_US |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.description.localcode | © 2020 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. | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |