Signal corrector and decoupling estimations for UAV control

TL;DR

This paper introduces a low-order signal corrector and observer for UAVs that effectively handle large position errors and system uncertainties, including non-Gaussian noise, improving navigation and control accuracy.

Contribution

It presents a novel decoupling estimation method with a stable signal corrector and observer for UAVs, addressing large-error sensing and stochastic noise.

Findings

Effective correction of large position errors in UAVs

Accurate estimation of system uncertainties including non-Gaussian noise

Successful application in UAV navigation and control

Abstract

For a class of uncertain systems with large-error sensing, the low-order stable signal corrector and observer are presented for signal correction and uncertainty estimation according to completely decoupling estimation. The signal corrector can reject the large error in global position sensing, and system uncertainty can be estimated by the observer, even the existence of stochastic non-Gaussian noise. The corrector and observer are applied to a UAV navigation and control for large-error corrections in position/attitude angle and the uncertainties estimation in the UAV flight dynamics. The control laws are designed according to the correction-estimation results. Finally, experiments demonstrate the effectiveness of the proposed method.