Aircraft navigation based on differentiation-integration observer

TL;DR

This paper introduces a differentiation-integration observer for aircraft navigation that estimates multiple derivatives and integrals of signals simultaneously, improving sensor data utilization for better control and trajectory tracking.

Contribution

It presents a novel generalized observer with specific parameter selection rules, validated through frequency analysis and numerical simulations on a quadrotor aircraft.

Findings

Successful estimation of attitude angles and uncertainties from angular velocity measurements

Effective trajectory tracking achieved using the proposed observer-based control law

Frequency-domain analysis confirms the theoretical stability and performance

Abstract

In this paper, a generalized differentiation-integration observer is presented based on sensors selection. The proposed differentiation-integration observer can estimate the multiple integrals and high-order derivatives of a signal, synchronously. The parameters selection rules are presented for the differentiation-integration observer. The theoretical results are confirmed by the frequency-domain analysis. The effectiveness of the proposed observer are verified through the numerical simulations on a quadrotor aircraft: i) through the differentiation-integration observer, the attitude angle and the uncertainties in attitude dynamics are estimated synchronously from the measurements of angular velocity; ii) a control law is designed based on the observers to drive the aircraft to track a reference trajectory.