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Journal Articles International Journal of Control Year : 2011

Nonlinear speed estimation of a GPS-free UAV


In this article, the problem of robust state observer design for a class of unmanned aerial vehicles (UAVs) is addressed. A prototype four-rotors helicopter robot for indoors and outdoors applications is considered: the drone is not equipped with GPS related devices, so we describe a strategy to estimate its translational velocity vector based on acceleration, angles and angular speeds measurements only. Since the linearised system is non-observable at the equilibrium point, a nonlinear observability verification is performed for persistently exciting trajectories. A global exponential solution to this open problem is provided in the framework of adaptive observation theory when exact measurements are available. A modified observer is presented to enhance velocity estimation robustness in the realistic case of noisy measurements. The results are compared with a classical estimation strategy based on the extended Kalman filter to test the algorithm's performance.


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hal-00744971 , version 1 (30-03-2021)



Giovanni L. Santosuosso, Khadidja Benzemrane, Gilney Damm. Nonlinear speed estimation of a GPS-free UAV. International Journal of Control, 2011, 84 (11), pp.1873--1885. ⟨10.1080/00207179.2011.627685⟩. ⟨hal-00744971⟩
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