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Sensors 2011, 11(4), 3738-3764; doi:10.3390/s110403738

Implementation of the Rauch-Tung-Striebel Smoother for Sensor Compatibility Correction of a Fixed-Wing Unmanned Air Vehicle

Institute of Aeronautics and Astronautics, National Cheng Kung University, Tainan City 701, Taiwan
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Received: 10 February 2011 / Revised: 15 March 2011 / Accepted: 17 March 2011 / Published: 28 March 2011
(This article belongs to the Section Physical Sensors)
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Abstract

This paper presents a complete procedure for sensor compatibility correction of a fixed-wing Unmanned Air Vehicle (UAV). The sensors consist of a differential air pressure transducer for airspeed measurement, two airdata vanes installed on an airdata probe for angle of attack (AoA) and angle of sideslip (AoS) measurement, and an Attitude and Heading Reference System (AHRS) that provides attitude angles, angular rates, and acceleration. The procedure is mainly based on a two pass algorithm called the Rauch-Tung-Striebel (RTS) smoother, which consists of a forward pass Extended Kalman Filter (EKF) and a backward recursion smoother. On top of that, this paper proposes the implementation of the Wiener Type Filter prior to the RTS in order to avoid the complicated process noise covariance matrix estimation. Furthermore, an easy to implement airdata measurement noise variance estimation method is introduced. The method estimates the airdata and subsequently the noise variances using the ground speed and ascent rate provided by the Global Positioning System (GPS). It incorporates the idea of data regionality by assuming that some sort of statistical relation exists between nearby data points. Root mean square deviation (RMSD) is being employed to justify the sensor compatibility. The result shows that the presented procedure is easy to implement and it improves the UAV sensor data compatibility significantly.
Keywords: Unmanned Air Vehicle (UAV); sensor data compatibility; Rauch-Tung-Striebel (RTS); Wiener type filter; noise estimation Unmanned Air Vehicle (UAV); sensor data compatibility; Rauch-Tung-Striebel (RTS); Wiener type filter; noise estimation
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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MDPI and ACS Style

Chan, W.-L.; Hsiao, F.-B. Implementation of the Rauch-Tung-Striebel Smoother for Sensor Compatibility Correction of a Fixed-Wing Unmanned Air Vehicle. Sensors 2011, 11, 3738-3764.

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