Disturbance estimation for RUAV using UKF with acceleration measurement

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	Disturbance estimation for RUAV using UKF with acceleration measurement
	Jiang ZY(江紫亚); He YQ(何玉庆); Han JD(韩建达)
	2015
会议名称	2015 IEEE International Conference on Mechatronics and Automation (ICMA)
会议日期	August 2-5, 2015
会议地点	Beijing
关键词	disturbance estimation unscented kalman filer (UKF) rotorcraft unmanned aerial vehicle (RUAV) acceleration measurement
页码	500-505
中文摘要	Rotorcraft unmanned aerial vehicles (RUAV) have been widely used in many fields. However, one of the bottleneck problems of RUAV control is how to ensure its motion steady under huge external disturbances such as wind. In this paper, a new algorithm on disturbance estimation is proposed using UKF algorithm and acceleration measurements. Firstly, the disturbance is regarded as an expanded state of the attitude dynamics of RUAV which is actuated by white noises; subsequently, the expanded dynamic system is rewritten into discrete form thus the UKF strategy can be utilized; then, UKFs with different information in the measurement equations are conducted to estimate the disturbance; finally, simulations are carried out and the results show that UKF with measurements of both Euler angles and angular accelerations has the fastest response to disturbance tracking, the least mean square of estimation errors and certain extent of robustness since acceleration is supposed to be a direct reflection of disturbance.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	2015 IEEE International Conference on Mechatronics and Automation (ICMA)
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4799-7098-8
WOS记录号	WOS:000380447600091
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/17461]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Jiang ZY,He YQ,Han JD. Disturbance estimation for RUAV using UKF with acceleration measurement[C]. 见:2015 IEEE International Conference on Mechatronics and Automation (ICMA). Beijing. August 2-5, 2015.