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Nonlinear speed estimation of a GPS-free UAV

Abstract : 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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https://hal.archives-ouvertes.fr/hal-00744971
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Submitted on : Tuesday, March 30, 2021 - 9:15:32 PM
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Giovanni L. Santosuosso, Khadidja Benzemrane, Gilney Damm. Nonlinear speed estimation of a GPS-free UAV. International Journal of Control, Taylor & Francis, 2011, 84 (11), pp.1873--1885. ⟨10.1080/00207179.2011.627685⟩. ⟨hal-00744971⟩

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