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  4. VDM-based UAV Attitude Determination in Absence of IMU Data
 
conference paper

VDM-based UAV Attitude Determination in Absence of IMU Data

Khaghani, Mehran  
•
Skaloud, Jan  
August 13, 2018
2018 European Navigation Conference (ENC)
2018 European Navigation Conference (ENC)

The capability of a previously proposed VDM (vehicle dynamic model) based navigation method for UAVs is assessed in attitude determination without IMU data. This method utilizes the VDM as main process model within the navigation filter and treats data from IMU (if available) and other sensors as observations. Experimental results from a test flight and a Monte Carlo simulation are presented to compare the performance of the VDM-based navigation against the conventional INS-based navigation. While the attitude estimation performance of VDM/GNSS integration is comparable to that of INS/GNSS in simulations, experimental results reveal the need for improved VDM parameter calibration.

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Type
conference paper
DOI
10.1109/EURONAV.2018.8433243
Author(s)
Khaghani, Mehran  
•
Skaloud, Jan  
Date Issued

2018-08-13

Publisher

IEEE

Published in
2018 European Navigation Conference (ENC)
Total of pages

7

Start page

84

End page

90

Subjects

UAV

•

Navigation

•

Attitude Determination

•

Vehicle Dynamic Model

•

IMU failure

•

Kalman Filter

•

topotraj

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
TOPO  
Event nameEvent placeEvent date
2018 European Navigation Conference (ENC)

Gothenburg, Sweden

May 14-17, 2018

Available on Infoscience
September 3, 2018
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/148115
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