Multiplicative Error State Kalman Filter vs Nonlinear Complimentary Filter for a High Performance Aircraft Attitude Estimation

Kamali C.; Shikha Jain

doi:10.14429/dsj.66.8838

Kamali C. Flight Mechanics and Control Division, CSIR-National Aerospace Laboratories, Bengalure
Shikha Jain Flight Mechanics and Control Division, CSIR-National Aerospace Laboratories, Bengalure

DOI: https://doi.org/10.14429/dsj.66.8838

Keywords: Attitude estimation, high performance aircraft, airdata, estimation, nonlinear complimentary filter, Kalman filter

Abstract

Modern control law designs increasingly use aircraft attitude information to improve aircraft manoeuverability. Attitude information allows for gravity term compensations in the longitudinal as well as lateral directional control laws of a typical fighter aircraft. Methodologies and comparisons of multiplicative error state Kalman filter (MEKF) and nonlinear complimentary filter for estimation of attitudes of a high performance aircraft using its onboard autonomous sensors is presented. Shows a problem in pitch angle estimation beyond ± 80 deg in the MEKF and a solution is proposed for the same for the first time. Also presents novel aiding sensor modelling for the implementation of attitude heading reference system for this class of aircraft for the first time. The filter formulations are evaluated using full range manuoevering real flight test data.

Author Biographies

Kamali C., Flight Mechanics and Control Division, CSIR-National Aerospace Laboratories, Bengalure

Dr Kamali C received her BE (Electrical and electronics engineering) from Madurai Kamaraj University and ME (Power electronics) from Bengaluru University and PhD from Visveswaraya Technological University, Belgaum. Currently working as a principal scientist at Flight Mechanics and Control Division, CSIR-National Aerospace Laboratories, Bengaluru. Her areas of research include : Flight simulation, modelling, parameter estimation, navigation, and airdata calibration.

Shikha Jain, Flight Mechanics and Control Division, CSIR-National Aerospace Laboratories, Bengalure

Ms Shikha Jain is working as a scientist in Flight Mechanics and Control Division at CSIR-National Aerospace Laboratories, Bengaluru. Her research interest includes modeling and simulation for unmanned vehicles, error modelling, estimation, guidance and navigation.