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UAV attitude measurement in the presence of wind disturbance

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Abstract

Concentrating on the issue that the existence of wind has an effect on the attitude estimation of unmanned aerial vehicle (UAV) and thereafter degrades the controllability of the UAV, based on the extended Kalman filter (EKF), an approach of UAV attitude estimation is proposed in the presence of wind interference. Firstly, attitude quaternion and drift bias of gyroscope are selected to construct the state vector, and the state equation is established based on the kinematics model of gyroscope. After that, observation equation can be obtained via using the measurement of accelerometer, magnetometer, and airspeed tube. In what follows, the EKF update equation is exploited to determine the UAV attitude. As compared to the traditional EKF and unscented Kalman filter, experimental results show that the proposed algorithm can depress the divergence of attitude angle obviously, upgrade the attitude measurement accuracy considerably, and lower the attitude angle error significantly.

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Acknowledgements

This work is partially supported by the National Natural Science Foundation of China under Grant No. 61301258, China Postdoctoral Science Foundation Funded Project under Grant No. 2016M590218, Key Scientific Research Projects of Colleges and Universities in Henan Province under Grant No. 14A520079, and Science and Technology Research Plan in Henan Province under Grant No. 162102210168.

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Authors and Affiliations

  1. Liaoning Engineering Laboratory of BeiDou High-precision Location Service, Dalian University, Dalian, 116622, China

    Jia Zheng, Hongyan Wang & Bingnan Pei

  2. Dalian Key Laboratory of Environmental Perception and Intelligent Control, Dalian University, Dalian, 116622, China

    Jia Zheng, Hongyan Wang & Bingnan Pei

  3. School of Information Science and Technology, Zhejiang Sci-Tech University, Hangzhou, 310018, China

    Hongyan Wang

  4. Faculty of Intelligent Manufacturing, Wuyi University, Jiangmen, 529020, China

    Hongyan Wang

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  1. Jia Zheng
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  2. Hongyan Wang
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  3. Bingnan Pei
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Correspondence to Hongyan Wang.

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Zheng, J., Wang, H. & Pei, B. UAV attitude measurement in the presence of wind disturbance. SIViP 14, 1517–1524 (2020). https://doi.org/10.1007/s11760-020-01693-5

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  • DOI: https://doi.org/10.1007/s11760-020-01693-5

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