Document Type


Publication Date



Statler College of Engineering and Mining Resources


Mechanical and Aerospace Engineering


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 aerial vehicle (UAV). This approach has the benefit being able to estimate full position, velocity and attitude states of a UAV using only the data from a single GPS receiver and antenna. Two different approaches for utilizing GPS signal strength within measurement updates for UAV attitude in a nonlinear Kalman filter are discussed and assessed using recorded UAV flight data. Comparisons of UAV pitch and roll estimates against measurements from a high-grade mechanical gyroscope are used to show that approximately 5° error with respect to both mean and standard-deviation on both axes is achievable.

Source Citation

Gross, J., Gu, Y., & Rhudy, M. (2016). Fixed-Wing UAV Attitude Estimation Using Single Antenna GPS Signal Strength Measurements. Aerospace, 3(2), 14.


© 2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (

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