文章基本信息

标题：Towards robust sensor fusion for state estimation in airborne applications using GNSS and IMU * * Support by the EU via ITN-AWESCO (642 682) is gratefully acknowledged.
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作者：Fabian Girrbach ; Jeroen D. Hol ; Giovanni Bellusci 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：13264-13269
DOI：10.1016/j.ifacol.2017.08.1963
语种：English
出版社：Elsevier
摘要：AbstractPrecise estimation of position, velocity, and orientation is crucial for robust control in airborne applications such as the fast maneuvering power kites for airborne wind energy generators. In this paper we present a sensor fusion approach for the measurements of a global navigation satellite system receiver and an inertial measurement unit, using methods from direct optimal control. The resulting optimization problem is based on the minimization of the weighted squared residuals between model predictions and measurements and solved using a direct collocation discretization strategy. The framework allows the formulation of a batch and filter estimator which include beside the estimation of the navigational states the identification of sensor parameters such as biases of the inertial measurement unit. The results of the algorithms are evaluated against a reference trajectory of a maneuvering single propeller aircraft and achieve root mean squared errors below 1 m in position, 0.4 ms-1in velocity, and 0.5 deg in orientation for the batch estimator. The contribution in this paper is a first step towards the required robustness of state estimation for airborne applications.
关键词：KeywordsOptimal estimationestimation algorithmsinertial navigationparameter estimationmoving horizon estimationorientationposition tracking