Attitude Estimation for UAV combine Nonlinear Complementary Filter with Integration-Differentiation Observer

State estimation is a key component of the flight control system of unmanned aerial aircraft [1]. In this paper, the nonlinear complementary filter and integration-differentiation observer are detailed respectively. Because of the drawbacks of these observational methods, we propose an observer that combine the advantages of complementary filter and integration-differentiation observer, which can not only obtain the integral and differential of original signals but also has the rectification effect from external sensors. The performance of our proposed observer is verified through simulation based on the hose-and-drogue refueling system. In this system, the attitude angles and disturbances are estimated simultaneously from the angular velocity, and an ADRC attitude controller is designed to compensate the estimated disturbances which get an accurate control.

[1]  Lilong Cai,et al.  Aircraft navigation based on differentiation–integration observer , 2015, 1506.02762.

[2]  Honglun Wang,et al.  A robust back-stepping based trajectory tracking controller for the tanker with strict posture constraints under unknown flow perturbations , 2016 .

[3]  I. Bar-Itzhack,et al.  Novel quaternion Kalman filter , 2002, IEEE Transactions on Aerospace and Electronic Systems.

[4]  Peter I. Corke,et al.  Low-cost flight control system for a small autonomous helicopter , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[5]  Yi Huang,et al.  ADRC based input disturbance rejection for minimum-phase plants with unknown orders and/or uncertain relative degrees , 2012, J. Syst. Sci. Complex..

[6]  Honglun Wang,et al.  Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode , 2018 .

[7]  Xinhua Wang,et al.  Navigation and Control Based on Integral-Uncertainty Observer for Unmanned Jet Aircraft , 2017, IEEE Transactions on Aerospace and Electronic Systems.

[8]  John L. Crassidis,et al.  Survey of nonlinear attitude estimation methods , 2007 .

[9]  Mark Euston,et al.  A complementary filter for attitude estimation of a fixed-wing UAV , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  F. Markley,et al.  Nonlinear Attitude Filtering Methods , 2005 .

[11]  John Valasek,et al.  Autonomous Aerial Refueling Utilizing A Vision Based Navigation System , 2002 .

[12]  Robert E. Mahony,et al.  Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles , 2014, IEEE Transactions on Control Systems Technology.