Implementation of the Rauch-Tung-Striebel Smoother for Sensor Compatibility Correction of a Fixed-Wing Unmanned Air VehicleReport as inadecuate




Implementation of the Rauch-Tung-Striebel Smoother for Sensor Compatibility Correction of a Fixed-Wing Unmanned Air Vehicle - Download this document for free, or read online. Document in PDF available to download.

Institute of Aeronautics and Astronautics, National Cheng Kung University, Tainan City 701, Taiwan





*

Author to whom correspondence should be addressed.



Abstract This paper presents a complete procedure for sensor compatibility correction of a fixed-wing Unmanned Air Vehicle UAV. The sensors consist of a differential air pressure transducer for airspeed measurement, two airdata vanes installed on an airdata probe for angle of attack AoA and angle of sideslip AoS measurement, and an Attitude and Heading Reference System AHRS that provides attitude angles, angular rates, and acceleration. The procedure is mainly based on a two pass algorithm called the Rauch-Tung-Striebel RTS smoother, which consists of a forward pass Extended Kalman Filter EKF and a backward recursion smoother. On top of that, this paper proposes the implementation of the Wiener Type Filter prior to the RTS in order to avoid the complicated process noise covariance matrix estimation. Furthermore, an easy to implement airdata measurement noise variance estimation method is introduced. The method estimates the airdata and subsequently the noise variances using the ground speed and ascent rate provided by the Global Positioning System GPS. It incorporates the idea of data regionality by assuming that some sort of statistical relation exists between nearby data points. Root mean square deviation RMSD is being employed to justify the sensor compatibility. The result shows that the presented procedure is easy to implement and it improves the UAV sensor data compatibility significantly. View Full-Text

Keywords: Unmanned Air Vehicle UAV; sensor data compatibility; Rauch-Tung-Striebel RTS; Wiener type filter; noise estimation Unmanned Air Vehicle UAV; sensor data compatibility; Rauch-Tung-Striebel RTS; Wiener type filter; noise estimation





Author: Woei-Leong Chan * and Fei-Bin Hsiao

Source: http://mdpi.com/



DOWNLOAD PDF




Related documents