Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter

Publication: Research - peer-reviewArticle in proceedings – Annual report year: 2012

Standard

Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter. / Hahn, Tobias ; Hansen, Søren; Blanke, Mogens.

System Identification. ed. / Michel Kinnaert. Vol. 16 International Federation of Automatic Control, 2012. p. 1797-1802 (IFAC Proceedings Volumes (IFAC-PapersOnline) ).

Publication: Research - peer-reviewArticle in proceedings – Annual report year: 2012

Harvard

Hahn, T, Hansen, S & Blanke, M 2012, 'Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter'. in M Kinnaert (ed.), System Identification. vol. 16, International Federation of Automatic Control, pp. 1797-1802. IFAC Proceedings Volumes (IFAC-PapersOnline) , , 10.3182/20120711-3-BE-2027.00245

APA

Hahn, T., Hansen, S., & Blanke, M. (2012). Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter. In M. Kinnaert (Ed.), System Identification. (Vol. 16, pp. 1797-1802). International Federation of Automatic Control. (IFAC Proceedings Volumes (IFAC-PapersOnline) ). 10.3182/20120711-3-BE-2027.00245

CBE

Hahn T, Hansen S, Blanke M. 2012. Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter. Kinnaert M, editor. In System Identification. International Federation of Automatic Control. pp. 1797-1802. (IFAC Proceedings Volumes (IFAC-PapersOnline) ). Available from: 10.3182/20120711-3-BE-2027.00245

MLA

Hahn, Tobias , Søren Hansen, and Mogens Blanke "Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter". Kinnaert, Michel (editors). System Identification. International Federation of Automatic Control. 2012. 1797-1802. (IFAC Proceedings Volumes (IFAC-PapersOnline) ). Available: 10.3182/20120711-3-BE-2027.00245

Vancouver

Hahn T, Hansen S, Blanke M. Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter. In Kinnaert M, editor, System Identification. Vol. 16. International Federation of Automatic Control. 2012. p. 1797-1802. (IFAC Proceedings Volumes (IFAC-PapersOnline) ). Available from: 10.3182/20120711-3-BE-2027.00245

Author

Hahn, Tobias ; Hansen, Søren; Blanke, Mogens / Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter.

System Identification. ed. / Michel Kinnaert. Vol. 16 International Federation of Automatic Control, 2012. p. 1797-1802 (IFAC Proceedings Volumes (IFAC-PapersOnline) ).

Publication: Research - peer-reviewArticle in proceedings – Annual report year: 2012

Bibtex

@inbook{d0c9008b9a344d259252aacba75e4fb5,
title = "Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter",
keywords = "Data handling, Kalman filters, Parameter estimation, Spheres, State estimation, Unmanned aerial vehicles (UAV), Estimation, Spherical simplex, Unmanned aerial vehicle, Contingency operations, Filter algorithm, Filter performance, Flight data, GPS signals",
publisher = "International Federation of Automatic Control",
author = "Tobias Hahn and Søren Hansen and Mogens Blanke",
year = "2012",
doi = "10.3182/20120711-3-BE-2027.00245",
editor = "Michel Kinnaert",
volume = "16",
isbn = "978-3-902823-06-9",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
pages = "1797-1802",
booktitle = "System Identification",

}

RIS

TY - GEN

T1 - Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter

A1 - Hahn,Tobias

A1 - Hansen,Søren

A1 - Blanke,Mogens

AU - Hahn,Tobias

AU - Hansen,Søren

AU - Blanke,Mogens

PB - International Federation of Automatic Control

PY - 2012

Y1 - 2012

N2 - Aiming at survival from contingency situations for unmanned aerial vehicles, a square root spherical simplex unscented Kalman filter is applied for state and parameter estimation and a rough model is used for state prediction when essential measurements are lost. Processing real flight data, received by telemetry at quite low sampling rate, the paper shows that filter performance of reasonable quality can be achieved despite the low sampling rate and the result<br/>is a low order model that can be useful during contingency operation. It is shown that the filter-estimator approach can cope with the low rate measurements requiring very little system knowledge and very limited tuning efforts. A generic aircraft model is utilised as process model where the non dimensional coefficients are identified online with joint estimation of states. Numerical stability is guaranteed by mathematically efficient square root implementation of the<br/>filter algorithm. A case of loss of GPS signal demonstrates the use of the state estimates to obtain return of the UAV to close to it’s home base where safe recovery is possible.

AB - Aiming at survival from contingency situations for unmanned aerial vehicles, a square root spherical simplex unscented Kalman filter is applied for state and parameter estimation and a rough model is used for state prediction when essential measurements are lost. Processing real flight data, received by telemetry at quite low sampling rate, the paper shows that filter performance of reasonable quality can be achieved despite the low sampling rate and the result<br/>is a low order model that can be useful during contingency operation. It is shown that the filter-estimator approach can cope with the low rate measurements requiring very little system knowledge and very limited tuning efforts. A generic aircraft model is utilised as process model where the non dimensional coefficients are identified online with joint estimation of states. Numerical stability is guaranteed by mathematically efficient square root implementation of the<br/>filter algorithm. A case of loss of GPS signal demonstrates the use of the state estimates to obtain return of the UAV to close to it’s home base where safe recovery is possible.

KW - Data handling

KW - Kalman filters

KW - Parameter estimation

KW - Spheres

KW - State estimation

KW - Unmanned aerial vehicles (UAV)

KW - Estimation

KW - Spherical simplex

KW - Unmanned aerial vehicle

KW - Contingency operations

KW - Filter algorithm

KW - Filter performance

KW - Flight data

KW - GPS signals

U2 - 10.3182/20120711-3-BE-2027.00245

DO - 10.3182/20120711-3-BE-2027.00245

SN - 978-3-902823-06-9

VL - 16

BT - System Identification

T2 - System Identification

A2 - Kinnaert,Michel

ED - Kinnaert,Michel

T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)

T3 - en_GB

SP - 1797

EP - 1802

ER -