Fuzzy Adaptive Attitude Estimation for a Fixed-Wing UAV with a Virtual SSA Sensor During a GPS Outage

This paper proposes a novel robust attitude estimation algorithm for a small unmanned aerial vehicle (UAV) in the absence of GPS measurements. A synthetic sideslip angle (SSA) measurement formulated for use under the zero-angle assumption is newly proposed for a UAV without angle-of-attack (AOA)/SSA sensors to enhance the state estimation performance during a GPS outage. In addition, the nongravitational acceleration is estimated using the proposed Kalman filter and is then subtracted from the raw acceleration to yield a reliable gravity estimate. Then, a fuzzy-logic-aided adaptive measurement covariance matching algorithm is devised to adaptively reduce the weight given to disturbed acceleration and magnetic field measurements in the attitude estimation, yielding the fuzzy adaptive error-state Kalman filter (FAESKF) algorithm. Experimental flight results demonstrate that the proposed FAESKF algorithm achieves a remarkable improvement in attitude estimation compared to the conventional algorithm.

© 2020 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.



Work Title Fuzzy Adaptive Attitude Estimation for a Fixed-Wing UAV with a Virtual SSA Sensor During a GPS Outage
Open Access
  1. Wonkeun Youn
  2. Matthew B. Rhudy
  3. Am Cho
  4. Hyun Myung
License In Copyright (Rights Reserved)
Work Type Article
  1. Institute of Electrical and Electronics Engineers (IEEE)
Publication Date February 1, 2020
Publisher Identifier (DOI)
  1. 10.1109/JSEN.2019.2947489
  1. IEEE Sensors Journal
Deposited September 09, 2021




This resource is currently not in any collection.

Work History

Version 1

  • Created
  • Added M Rhudy - Fuzzy Adaptive Attitude.pdf
  • Added Creator Wonkeun Youn
  • Added Creator Matthew B. Rhudy
  • Added Creator Am Cho
  • Added Creator Hyun Myung
  • Published
  • Updated
  • Updated