Table of Contents Author Guidelines Submit a Manuscript
International Journal of Aerospace Engineering
Volume 2016, Article ID 6217428, 12 pages
http://dx.doi.org/10.1155/2016/6217428
Research Article

A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation

1Department of Mechanical and Aerospace Engineering (MAE) at West Virginia University (WVU), Morgantown, WV 26506, USA
2Division of Engineering, Pennsylvania State University, Reading, PA 19610, USA

Received 1 October 2015; Revised 15 January 2016; Accepted 27 January 2016

Academic Editor: Enrico C. Lorenzini

Copyright © 2016 Yu Gu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. Z. Chen, “Bayesian filtering: from Kalman filters, to particle filters, and beyond,” Tech. Rep., McMaster University, 2003, http://web.maths.unsw.edu.au/~peterdel-moral/chen_bayesian.pdf. View at Google Scholar
  2. J. L. Junkins and J. L. Crassidis, Optimal Estimation of Dynamic Systems, Chapman & Hall/CRC, Washington, DC, USA, 2004.
  3. T. Vercauteren and X. D. Wang, “Decentralized sigma-point information filters for target tracking in collaborative sensor networks,” IEEE Transactions on Signal Processing, vol. 53, no. 8, pp. 2997–3009, 2005. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  4. D.-J. Lee, “Unscented information filtering for distributed estimation and multiple sensor fusion,” in Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, AIAA 2008-7426, Honolulu, Hawaii, USA, August 2008. View at Publisher · View at Google Scholar · View at Scopus
  5. A. G. O. Mutambara, Decentralized Estimation and Control for Multisensor Systems, CRC Press, Washington, DC, USA, 1998.
  6. A. S. Morris, Measurement & Instrumentation Principles, Elsevier, Oxford, UK, 2001.
  7. K. Whitehouse and D. Culler, “Calibration as parameter estimation in sensor networks,” in Proceedings of the 1st ACM International Workshop on Wireless Sensor Networks and Applications, pp. 59–67, New York, NY, USA, September 2002. View at Scopus
  8. V. Klein and E. A. Morelli, Aircraft System Identification: Theory and Pratice, AIAA, Reston, Va, USA, 2006.
  9. J. L. Crassidis, “Sigma-point filtering for integrated GPS and inertial navigation,” in Proceednigs of the AIAA Guidance, Navigation and Control Conference and Exhibit, San Francisco, Calif, USA, August 2005.
  10. P. M. Frank, “Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy: a survey and some new results,” Automatica, vol. 26, no. 3, pp. 459–474, 1990. View at Publisher · View at Google Scholar · View at Scopus
  11. R. Isermann, “Model-based fault detection and diagnosis: status and applications,” in Proceedings of the 16th IFAC Symposium on Automatic Control in Aerospace, St. Petersburg, Russia, 2004.
  12. D. B. Kingston and R. W. Beard, “Real-time attitude and position estimation for small UAVs using low-cost sensors,” in Proceedings of the AIAA 3rd Unmanned Unlimited Systems Conference and Workshop, AIAA-2004-6488, Chicago, Ill, USA, September 2004.
  13. U. Kayasal, Magnetometer Aided Inertial Navigation System: Modeling and Simulation of a Navigation System with an Imu and a Magnetometer, LAP Lambert Academic, 2009.
  14. Y. H. Li, J. C. Fang, and Z. K. Jia, “Simulation of INS/CNS/GPS integrated navigation,” Journal of Chinese Inertial Technology, vol. 06, 2002. View at Google Scholar
  15. S. Winkler, H. W. Schulz, M. Buschmann, T. Kordes, and P. Vorsmann, “Horizon aided low-cost GPS/INS integration for autonomous micro air vehicle navigation,” in Proceedings of the 1st European Micro Air Vehicle Conference and Flight Competition, Braunschweig, Germany, 2004.
  16. L. D. Hostetler and R. D. Andreas, “Nonlinear kalman filtering techniques for terrain-aided navigation,” IEEE Transactions on Automatic Control, vol. 28, no. 3, pp. 315–323, 1983. View at Google Scholar · View at Scopus
  17. M. Rhudy, Y. Gu, H. Chao, and J. Gross, “Unmanned aerial vehicle navigation using wide-field optical flow and inertial sensors,” Journal of Robotics, vol. 2015, Article ID 251379, 12 pages, 2015. View at Publisher · View at Google Scholar
  18. S. Vajda and A. Zorn, “Survey of existing and emerging technologies for strategic submarine navigation,” in Proceedings of the IEEE Position Location and Navigation Symposium, pp. 309–315, Palm Springs, Calif, USA, April 1998. View at Publisher · View at Google Scholar
  19. M. S. Grewal, L. R. Weill, and A. P. Andrews, Global Positioning Systems, Inertial Navigation, and Integration, John Wiley & Sons, Hoboken, NJ, USA, 2nd edition, 2007.
  20. T. S. Rappaport, J. H. Reed, and B. D. Woerner, “Position location using wireless communications on highways of the future,” IEEE Communications Magazine, vol. 34, no. 10, pp. 33–41, 1996. View at Publisher · View at Google Scholar · View at Scopus
  21. J. Gross, Sensor fusion based fault-tolerant attitude estimation solutions for small unmanned aerial vehicles [Ph.D. thesis], West Virginia Univerisity, 2011.
  22. B. L. Stevens and F. L. Lewis, Aicraft Control and Simulation, John Wiley & Sons, 2nd edition, 2003.
  23. NOAA's Geophysical Data Center, Geomagnetic Online Calculator, http://www.ngdc.noaa.gov/geomag-web/.
  24. J. C. Doyle and G. Stein, “Robustness with observers,” IEEE Transactions on Automatic Control, vol. 24, no. 4, pp. 607–611, 1979. View at Publisher · View at Google Scholar · View at MathSciNet
  25. E. Wan and R. van der Merwe, “The unscented Kalman filter for nonlinear estimation,” in Proceedings of the IEEE Adaptive Systems for Signal Processing, Communications, and Control Symposium (AS-SPCC '00), Lake Loise, Canada, October 2000. View at Publisher · View at Google Scholar
  26. S. J. Julier and J. K. Uhlmann, “Unscented filtering and nonlinear estimation,” Proceedings of the IEEE, vol. 92, no. 3, pp. 401–422, 2004. View at Publisher · View at Google Scholar · View at Scopus
  27. J. F. Vasconcelos, G. Elkaim, C. Silvestre, P. Oliveira, and B. Cardeira, “A geometric approach to strapdown magnetometer calibration in sensor frame,” in Proceedings of the 2nd IFAC Workshop on Navigation, Guidance, and Control of Underwater Vehicles (NGCUV '08), pp. 172–177, Killaloe, Ireland, 2008. View at Publisher · View at Google Scholar
  28. B. J. Anderson, L. J. Zanetti, D. H. Lohr et al., “In-flight calibration of the NEAR magnetometer,” IEEE Transactions on Geoscience and Remote Sensing, vol. 39, no. 5, pp. 907–917, 2001. View at Publisher · View at Google Scholar · View at Scopus
  29. E. Lavretsky, “Robust adaptive inner-loop design for vehicles with uncertain dynamics,” in Proceedings of the American Control Conference (ACC '08), pp. 2322–2327, Seattle, Wash, USA, June 2008. View at Publisher · View at Google Scholar · View at Scopus
  30. P. F. Guo, H. T. Qiu, Y. C. Yang, and Z. Ren, “The soft iron and hard iron calibration method using extended kalman filter for attitude and heading reference system,” in Proceedings of the IEEE/ION Position, Location and Navigation Symposium, pp. 1167–1174, Monterey, Calif, USA, May 2008. View at Publisher · View at Google Scholar · View at Scopus
  31. K. I. Penny, “Appropriate critical values when testing for a single multivariate outlier by using the Mahalanobis distance,” Journal of the Royal Statistical Society. Series C: Applied Statistics, vol. 45, no. 1, pp. 73–81, 1996. View at Publisher · View at Google Scholar
  32. Y. Gu, B. Seanor, G. Campa et al., “Design and flight testing evaluation of formation control laws,” IEEE Transactions on Control Systems Technology, vol. 14, no. 6, pp. 1105–1112, 2006. View at Publisher · View at Google Scholar · View at Scopus
  33. Y. Gu, J. Gross, F. Barchesky, H. Chao, and M. Napolitano, “Avionics design for a sub-scale fault-tolerant flight control test-bed,” in Recent Advances in Aircraft Technology, chapter 21, InTech, Rijeka, Croatia, 2012. View at Publisher · View at Google Scholar