| Title |
Joint UAV and Atmospheric State Estimation using INS/GPS/ADS |
| Authors |
김경렬(Kyungryul Kim) ; 조훈기(Hungi Cho) ; 양현호(Hyunho Yang) ; 김국화(Gookhwa Kim) ; 박귀우(Kwiwoo Park) ; 정방철(Bangcheol Jung) ; 김효원(Hyowon Kim) |
| DOI |
https://doi.org/10.5573/ieie.2025.62.4.3 |
| Keywords |
Aerodynamics; Atmospheric state; EKF; System integration; UAV |
| Abstract |
In this paper, we propose a method for the estimation of the integrated unmanned aerial vehicle (UAV) and atmospheric states with the inertial navigation system (INS), global positioning system (GPS), air data system (ADS) measurements. To do this, we integrate the system models corresponding to the UAV and atmospheric states. By the Taylor series expansion, we linearize the non-linear system models, and develop the extended Kalman filter (EKF) that computes the posterior density in the Bayesian framework. We evaluate the developed EKF filter via MATLAB simulation. |