Observability Analysis of Flight State Estimation for UAVs and Experimental Validation
Peng Huang,Heinrich Meyr,Meik Dörpinghaus,Gerhard Fettweis,Peng Huang,Heinrich Meyr,Meik Dörpinghaus,Gerhard Fettweis
UAVs require reliable, cost-efficient onboard flight state estimation that achieves high accuracy and robustness to perturbation. We analyze a multi-sensor extended Kalman filter (EKF) based on the work by Leutenegger. The EKF uses measurements from a MEMS-based inertial system, static and dynamic pressure sensors as well as GPS. As opposed to other implementations we do not use a magnetic sensor ...
