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

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

1 Downloads (Pure)


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
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
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.
Original languageEnglish
Title of host publicationSystem Identification
EditorsMichel Kinnaert
PublisherInternational Federation of Automatic Control
Publication date2012
ISBN (Print)978-3-902823-06-9
Publication statusPublished - 2012
Event16th IFAC Symposium on System Identification - Square - Brussels Meeting Centre, Brussels, Belgium
Duration: 11 Jul 201213 Jul 2012


Conference16th IFAC Symposium on System Identification
LocationSquare - Brussels Meeting Centre
Internet address
SeriesIFAC Proceedings Volumes (IFAC-PapersOnline)


  • 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

Fingerprint Dive into the research topics of 'Contingency Estimation of States for Unmanned Aerial Vehicle using a Spherical Simplex Unscented Filter'. Together they form a unique fingerprint.

Cite this