UAV State Estimation Modeling Techniques in AHRS

6th International Conference on Mechatronics

机械制造;无线电电子学

Razali, Shikin^1,2 ; Zhahir, Amzari^1

Department of Aerospace Engineering, Engineering Faculty, Universiti Putra Malaysia, UPM Serdang, Selangor

43400, Malaysia^1

School of Electrical System Engineering, Universiti Malaysia Perlis, Arau, Perlis

02600, Malaysia^2

关键词: Autonomous unmanned aerial vehicles;    Estimation feedback;    Estimation models;    Feedback controller;    Flight mission;    Flight operation;    Navigation accuracy;    Reference systems;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/260/1/012013/pdf
DOI  :  10.1088/1757-899X/260/1/012013

来源: IOP

【 摘 要 】

Autonomous unmanned aerial vehicle (UAV) system is depending on state estimation feedback to control flight operation. Estimation on the correct state improves navigation accuracy and achieves flight mission safely. One of the sensors configuration used in UAV state is Attitude Heading and Reference System (AHRS) with application of Extended Kalman Filter (EKF) or feedback controller. The results of these two different techniques in estimating UAV states in AHRS configuration are displayed through position and attitude graphs.