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.
Digital Commons Citation
Gross, Jason; Gu, Yu; and Rhudy, Matthew, "Fixed-Wing UAV Attitude Estimation Using Single Antenna GPS Signal Strength Measurements" (2016). Faculty & Staff Scholarship. 2066.
Gross, J., Gu, Y., & Rhudy, M. (2016). Fixed-Wing UAV Attitude Estimation Using Single Antenna GPS Signal Strength Measurements. Aerospace, 3(2), 14. https://doi.org/10.3390/aerospace3020014