Trade studies on implementation of extended kalman filters for sUAS navigation

Takuma Nakamura, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

THIS document describes the development and implementation of the extended Kalman filters (EKF) utilized for navigation algorithms of small unmanned aerial vehicles. The states of a vehicle and sensor biases are estimated using only on-board sensors and the knowledge of statistical properties of the sensor performance. An accelerometer, gyroscope, global positioning system, magnetometer, barometer, and pitot-statis system are used to estimate the position, velocity, and attitude of the vehicle, sensor biases, and the wind speed. The results of the Monte Carlo simulations with synthetic vehicle trajectory are provided for multiple scenarios. The discussion includes the trade studies on implementation regarding sensor placement, unknown local magnetic disturbances, filter design, and computational cost.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2019 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105784
DOIs
StatePublished - Jan 1 2019
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: Jan 7 2019Jan 11 2019

Publication series

NameAIAA Scitech 2019 Forum

Conference

ConferenceAIAA Scitech Forum, 2019
CountryUnited States
CitySan Diego
Period1/7/191/11/19

Fingerprint

Extended Kalman filters
Navigation
Sensors
Barometers
Gyroscopes
Magnetometers
Unmanned aerial vehicles (UAV)
Accelerometers
Global positioning system
Trajectories
Costs

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering

Cite this

Nakamura, T., & Johnson, E. (2019). Trade studies on implementation of extended kalman filters for sUAS navigation. In AIAA Scitech 2019 Forum (AIAA Scitech 2019 Forum). American Institute of Aeronautics and Astronautics Inc, AIAA. https://doi.org/10.2514/6.2019-0372
Nakamura, Takuma ; Johnson, Eric. / Trade studies on implementation of extended kalman filters for sUAS navigation. AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).
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Nakamura, T & Johnson, E 2019, Trade studies on implementation of extended kalman filters for sUAS navigation. in AIAA Scitech 2019 Forum. AIAA Scitech 2019 Forum, American Institute of Aeronautics and Astronautics Inc, AIAA, AIAA Scitech Forum, 2019, San Diego, United States, 1/7/19. https://doi.org/10.2514/6.2019-0372

Trade studies on implementation of extended kalman filters for sUAS navigation. / Nakamura, Takuma; Johnson, Eric.

AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Nakamura T, Johnson E. Trade studies on implementation of extended kalman filters for sUAS navigation. In AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA. 2019. (AIAA Scitech 2019 Forum). https://doi.org/10.2514/6.2019-0372