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Aerospace 2016, 3(2), 14;

Fixed-Wing UAV Attitude Estimation Using Single Antenna GPS Signal Strength Measurements

Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26506, USA
Division of Engineering, Pennsylvania State University, Reading, PA 19610, USA
Author to whom correspondence should be addressed.
Academic Editor: Javaan Chahl
Received: 5 April 2016 / Revised: 5 May 2016 / Accepted: 10 May 2016 / Published: 13 May 2016
(This article belongs to the Collection Unmanned Aerial Systems)
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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. View Full-Text
Keywords: UAV attitude estimation; GPS estimation filter; GPS signal authentication UAV attitude estimation; GPS estimation filter; GPS signal authentication

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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

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