Flight-Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation

2012 ◽  
Vol 48 (3) ◽  
pp. 2128-2139 ◽  
Author(s):  
Jason N. Gross ◽  
Yu Gu ◽  
Matthew B. Rhudy ◽  
Srikanth Gururajan ◽  
Marcello R. Napolitano
Keyword(s):  
Sensor Fusion ◽  
Flight Test ◽  
Attitude Estimation ◽  
Test Evaluation

scholarly journals Evaluation of Matrix Square Root Operations for UKF within a UAV GPS/INS Sensor Fusion Application

2011 ◽  
Vol 2011 ◽  
pp. 1-11 ◽  
Author(s):  
Matthew Rhudy ◽  
Yu Gu ◽  
Jason Gross ◽  
Marcello R. Napolitano
Keyword(s):  
Sensor Fusion ◽  
Unscented Kalman Filter ◽  
Attitude Estimation ◽  
Square Root ◽  
Fusion Algorithm ◽  
Matrix Square Root ◽  
Global Positioning ◽  
The Matrix ◽  
Aerial Vehicle ◽  
Diagonalization Method

Using an Unscented Kalman Filter (UKF) as the nonlinear estimator within a Global Positioning System/Inertial Navigation System (GPS/INS) sensor fusion algorithm for attitude estimation, various methods of calculating the matrix square root were discussed and compared. Specifically, the diagonalization method, Schur method, Cholesky method, and five different iterative methods were compared. Additionally, a different method of handling the matrix square root requirement, the square-root UKF (SR-UKF), was evaluated. The different matrix square root calculations were compared based on computational requirements and the sensor fusion attitude estimation performance, which was evaluated using flight data from an Unmanned Aerial Vehicle (UAV). The roll and pitch angle estimates were compared with independently measured values from a high quality mechanical vertical gyroscope. This manuscript represents the first comprehensive analysis of the matrix square root calculations in the context of UKF. From this analysis, it was determined that the best overall matrix square root calculation for UKF applications in terms of performance and execution time is the Cholesky method.

FLIGHT TEST EVALUATION OF THE UF-XS JAPANESE STOL SEAPLANE

1964 ◽  
Author(s):  
Nicholas J. Vagianos ◽  
Eugene C. Rooney
Keyword(s):  
Flight Test ◽  
Test Evaluation

H2 Optimal Attitude Estimation of UAVs Using Sensor Fusion

2020 ◽  
Author(s):  
Sunsoo Kim ◽  
Vaishnav Tadiparthi ◽  
Raktim Bhattacharya
Keyword(s):  
Sensor Fusion ◽  
Attitude Estimation

Studying Collision Avoidance by Nearly Colliding: A Flight Test Evaluation

2011 ◽  
Vol 55 (1) ◽  
pp. 41-45 ◽  
Author(s):  
J. Keillor ◽  
K. Ellis ◽  
G. Craig ◽  
D. Rozovski ◽  
R. Erdos
Keyword(s):  
Collision Avoidance ◽  
Flight Test ◽  
Test Evaluation

Flight -Test Evaluation of Stability Augmentation Steering System for Aircraft Ground Handling

2004 ◽  
Vol 27 (1) ◽  
pp. 41-51 ◽  
Author(s):  
David H. Klyde ◽  
James G. Reinsberg ◽  
Erica Sanders ◽  
Alexander Kokolios
Keyword(s):  
Flight Test ◽  
Steering System ◽  
Test Evaluation ◽  
Stability Augmentation ◽  
Ground Handling
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