05.2 - Flight Dynamics and Control (UAV related)
FLIGHT PATH RECONSTRUCTION FOR AN UNMANNED AERIAL VEHICLE USING LOW-COST SENSORS
C. Göttlicher¹, F. Holzapfel¹; ¹Institute of Flight System Dynamics, TU Munich, Germany
This paper shows, how low-cost, off-the-shelf sensors can be used, to adequately reconstruct the position, velocity and attitude of an aircraft. An extended Rauch-Tung-Striebel Smoother (RTS) is used offline to extract state information from recorded raw data signals. A maximum-likelihood scheme is used to determine some of the inherently large errors of low-cost sensors.