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Aircraft attitude estimation based on central difference Kalman filter

Han, Ping and Gan, Haoliang and He, Weikun and Alazard, Daniel and Defaÿ, François and Briere, Yves Aircraft attitude estimation based on central difference Kalman filter. (2013) In: 11th International Conference on Signal Processing (ICSP 2012), 21 October 2012 - 25 October 2012 (Beijing, China).

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Official URL: http://dx.doi.org/10.1109/ICoSP.2012.6491658


When the extended Kalman filter (EKF) is applied in the aircraft attitude estimation, two defects exist: one is computational complexity; the other is large linearization error. Aiming at these problems, central difference Kalman filter (CDKF) based on Stirling interpolation formulation is applied to the low-cost aircraft attitude estimation system which is of less accurate and high noisy sensors. First, the nonlinear mathematical model of aircraft attitude based on quaternion is established, then CDKF is applied to attitude estimation. Experimental results with real flying data show that CDKF is superior to the commonly used EKF method and unscented Kalman filter (UKF). The algorithm not only improves the attitude estimation precision and stability effectively, but also avoids the computing burden of Jacobian matrices. In addition, it is more simple and easy to implement, because it has only one adjustable parameter instead of three in the UKF circumstances.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6483173 “© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
HAL Id:hal-01503698
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Civil Aviation University of China (CHINA)
Laboratory name:
Deposited On:21 Dec 2016 14:42

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