Page 189 - Innovations in Intelligent Machines

State Estimation for Micro Air Vehicles 181
Parameter Value Units
σ gyro,x 0.005 rad/sec
σ gyro,y 0.005 rad/sec
σ gyro,z 0.005 rad/sec
σ acc,x 0.005 m/sec 2
σ acc,y 0.005 m/sec 2
σ acc,z 0.005 m/sec 2
σ static pres 0.4 meters
σ diff pres 0.4 meters/sec
σ mag,x 500 nanotesla
σ mag,y 500 nanotesla
σ mag,z 500 nanotesla
σ GPS,n 0.5 meters
σ GPS,e 0.5 meters
σ GPS,h 0.5 meters
5.5 meters
¯ ν atmosphere
1.5 meters
¯ ν clock
¯ ν geometry 2.5 meters
0.6 meters
¯ ν multipath
Table 2. Sensor parameters used in the Aviones flight simulator. σ ∗ denote the
variance of a zero mean Gaussian process. ν ∗ denotes a random variable drawn
uniformly from the set [0, ¯ ∗]
ν
The state estimate plots shown in this chapter are all associated with a
similar flight trajectory which was dictated by the following autopilot com-
mands (using full state feedback).

• Throughout maneuver:
Hold airspeed at 10.0 m/s.
• 0 ≤ t ≤ 2.5 seconds:
Hold a pitch angle of 20 degrees.
Hold a roll angle of 30 degrees.
• 2.5 ≤ t ≤ 5.0 seconds:
Hold a pitch angle of −20 degrees.
Hold a roll angle of 0 degrees.
• 5.0 ≤ t ≤ 8.0 seconds:
Hold a pitch angle of 20 degrees.
Hold a roll angle of −30 degrees.
• 8.0 ≤ t ≤ 10.0 seconds:
Hold a pitch angle of −20 degrees.
Hold a roll angle of 0 degrees.
• 8.0 ≤ t ≤ 10.0 seconds:
Hold a pitch angle of −20 degrees.
Hold a roll angle of 0 degrees.
• 10.0 ≤ t ≤ 13.0 seconds:
Hold a pitch angle of 20 degrees.
Hold a roll angle of 30 degrees.