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Small Unmanned Aircraft by Timothy W. McLain, Randal W. Beard

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8

State Estimation

The autopilot designed in chapter 6 assumes that states of the system like roll and pitch angles are available for feedback. However, one of the challenges of MAV flight control is that sensors that directly measure roll and pitch are not available. Therefore, the objective of this chapter is to describe techniques for estimating the state of a small or micro air vehicle from the sensor measurements described in chapter 7. Since rate gyros directly measure roll rates in the body frame, the states p, q, and r can be recovered by low-pass filtering the rate gyros. Therefore, we begin the chapter by discussing digital implementation of low-pass filters in section 8.2. In section 8.3 we describe a simple state-estimation scheme ...

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