Robust attitude estimation for an unmanned aerial vehicle using multiple GPS receivers

摘要

Estimation of the system state is an important task in the field of control, localization, and navigation. Many sensors are used to extract the attitude information. GPS (Global Positioning System) is widely used to provide position and velocity for ground and aerial vehicles. However, only a few research works have addressed the problem of attitude estimation using multiple GPS receivers. The main contribution of this paper consists on proposing a robust algorithm for attitude estimation of an unmanned aerial vehicle using INS/ 3 GPS integration. First, we propose two alternative methods for attitude determination with three GPS receivers: Direct Computing Method (DCM) and Least Square Method (LSM) based on Singular Value Decomposition (SVD). Second, the attitude given by GPS receivers is fused with the measurement of a three-axis gyroscope using a robust Smooth Variable Structure Filter (SVSF). The optimal geometric configuration of GPS antennas is determined based on a deep performance analysis of the proposed system. Then, robustness analysis is assessed against measurement noise and parameters uncertainties. Simulation results are presented to demonstrate the robustness of the proposed approach. A more realistic evaluation of the proposed solution is obtained using an aerial vehicle type “Helicopter” from the Virtual Robot Experimentation Platform (VREP simulator). The proposed filter is compared with an Extended Kalman Filter (EKF). The obtained results have confirmed how much the SVSF is robust for attitude estimation in presence of the considered disturbances.