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Aircraft navigation based on differentiation-integration observer

机译：基于微分积分观测器的飞机导航

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摘要

In this paper, a generalized differentiation-integration observer is presented based on sensors selection. The proposed differentiation-integration observer can estimate the multiple integrals and high-order derivatives of a signal, synchronously. The parameters selection rules are presented for the differentiation integration observer. The theoretical results are confirmed by the frequency-domain analysis. The effectiveness of the proposed observer is verified through the numerical simulations on a quadrotor aircraft: i) through the differentiation-integration observer, the attitude angle and the uncertainties in attitude dynamics are estimated synchronously from the measurements of angular velocity; ii) a control law is designed based on the observers to drive the aircraft to track a reference trajectory. (C) 2017 Elsevier Masson SAS. All rights reserved.
机译：本文提出了一种基于传感器选择的广义微分积分观测器。提出的微分积分观测器可以同步估计信号的多个积分和高阶导数。为微分积分观测器提供了参数选择规则。频域分析证实了理论结果。通过在四旋翼飞机上的数值模拟验证了所提出的观测器的有效性：i）通过微分积分观测器，从角速度的测量同步估计了姿态角和姿态动力学的不确定性； ii）基于观察者设计了控制律，以驱动飞机跟踪参考轨迹。 （C）2017 Elsevier Masson SAS。版权所有。

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