Flight-Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation

  title={Flight-Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation},
  author={Jason N. Gross and Yu Gu and Matthew B. Rhudy and Srikanth Gururajan and Marcello Rosario Napolitano},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman filter (UKF), and evaluated with respect to performance and complexity. The contributions of this study are that attitude estimates are compared with independent measurements provided by a mechanical vertical gyroscope using 23 diverse sets of flight data, and that a fundamental difference between EKF and UKF with respect to… 

Figures and Tables from this paper

Fusion of GPS and Redundant IMU Data for Attitude Estimation

Attitude estimation using Global Positioning System/Inertial Navigation System (GPS/INS) was used as an example application to study three different methods of fusing redundant multi-sensor data used

Performance Evaluation by Measurement Combination of Loosely Coupled GPS/INS Integration

This paper presents an extended Kalman filter derivation for loosely coupled GPS (Global Positioning System)/INS (Inertial Navigation System) integration based on quaternion attitude representation

GPS/INS/optic flow data fusion for position and Velocity estimation

This paper presents a simple and easy to implement sensor data fusion algorithm, using a Kalman filter (KF) in a loosely coupled scheme, for estimation of the velocity and position of an object

Low-Cost Loosely-Coupled Dual GPS/INS for Attitude Estimation with Application to a Small UAV

This work presents the development and estimation results of using information from Inertial Navigation System (INS) and two separate GPS antennas placed along the longitudinal axis of an Unmanned

On Designing PMI Kalman Filter for INS/GPS Integrated Systems With Unknown Sensor Errors

In this paper, a Kalman filter with proportional gain and multiintegral (PMI) gains is proposed to inertial navigation system (INS) and global positioning system (GPS) integration. A generalized

Wide-field optical flow aided inertial navigation for unmanned aerial vehicles

The use of wide-field optical flow is explored to regulate INS drift for the purpose of GPS-denied navigation and an Unscented Information Filter (UIF) algorithm for Unmanned Aerial Vehicle (UAV) velocity and attitude estimation is proposed and evaluated with experimental flight data.

On-line Modeling and Calibration of Low-Cost Navigation Sensors

Cal calibration modeling of a low-cost Inertial Measurement Unit (IMU) sensor for Small Unmanned Aerial Vehicle (SUAV) attitude estimation is considered and attitude estimates are calculated with data collected on-board a SUAV and are compared with high-quality vertical gyroscope measurements.

Relaxation of Initial Error and Noise Bounds for Stability of GPS/INS Attitude Estimation

Attitude estimation is an important problem for aircraft navigation and control which is commonly approached using nonlinear state estimation to fuse information from Global Positioning System (GPS)

Sensitivity Analysis of Extended and Unscented Kalman Filters for Attitude Estimation

Small differences were seen between EKF and UKF for initialization error and GPS outages: the UKF was found to be more robust to inertial measurement unit calibration errors, and the EKKF was determined to beMore computationally efficient.

Fixed-Wing UAV Attitude Estimation Using Single Antenna GPS Signal Strength Measurements

This article considers a novel approach to using global positioning system (GPS) signal strength readings and estimated velocity vector for estimating the attitude of a small fixed-wing unmanned



Sigma-point Kalman filtering for integrated GPS and inertial navigation

  • J. Crassidis
  • Engineering
    IEEE Transactions on Aerospace and Electronic Systems
  • 2006
Simulation and experimental results are shown to compare the performance of the sigma-point filter with a standard EKF approach, which shows faster convergence from inaccurate initial conditions in position/attitude estimation problems.

Single antenna GPS information based aircraft attitude redundancy

Analysis of real time single antenna GPS flight data is reported on for the purpose of evaluating its utility for detecting faults in inertial attitude instruments.

A Performance Comparison of Tightly Coupled GPS/INS Navigation Systems based on Extended and Sigma Point Kalman Filters

: In tightly coupled GPS/INS integration, the data fusion algorithm is faced with nonlinear system dynamics and measurement models. The extended Kalman filter (EKF) approximates the propagation of

Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system

An integrated navigation information system must know continuously the current position with a good precision. The required performance of the positioning module is achieved by using a cluster of

Real-Time Attitude and Position Estimation for Small UAVs Using Low-Cost Sensors

A novel method for dealing with latency in real-time is presented using a distributed-in-time architecture and a cascaded filter approach to position estimation in connection with an Extended Kalman Filter attitude estimation scheme.

Calibration and Stochastic Modelling of Inertial Navigation Sensor Erros

The inertial sensor errors are introduced and discussed, mathematical models for RC, RW, GM, and AR stochastic models with associated variances for gyros and accelerometer random errors are presented, and a six-position laboratory calibration test is described.

Preliminary flight tests of pseudo-attitude using single antenna GPS sensing

  • R. KornfeldR. HansmanJ. Deyst
  • Computer Science
    17th DASC. AIAA/IEEE/SAE. Digital Avionics Systems Conference. Proceedings (Cat. No.98CH36267)
  • 1998
P pseudo-attitude is described, which shows flight path angle and pseudo-roll angle instead of the traditional pitch and roll information, thus yielding direct indications of the actual flight path state.

Autonomous Formation Flight: Hardware Development

The hardware development for an autonomous formation flight research project at West Virginia University was outfitted with an inertial navigation system, GPS receiver and telemetry system tailored to perform the formation flight experiment.

Survey of nonlinear attitude estimation methods

A survey of modern nonlinear filtering methods for attitude estimation based on the Gaussian assumption that the probability density function is adequately specified by its mean and covariance is provided.

The unscented Kalman filter for nonlinear estimation

  • E. WanR. Van Der Merwe
  • Mathematics
    Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373)
  • 2000
This paper points out the flaws in using the extended Kalman filter (EKE) and introduces an improvement, the unscented Kalman filter (UKF), proposed by Julier and Uhlman (1997). A central and vital