Abstract: This note deals with the speed estimation of Unmanned Aerial Vehicle (UAV) using linear acceleration measurements. The estimator is a useful time-varying reduced-order Luemberger like observer such that the observation error is reduced to a time varying linear differential equation. Asymptotic stability of the estimation error is proved using the Lyapunov approach and the Barbalat lemma. Moreover, we generalize the proposed approach to systems with partial accelerations measurements. Conditions for the existence of the observer, which are less restrictive than those given in the literature, are given. A numerical simulation on a Quad-rotor UAV is performed to illustrate the effectiveness of the approach.
Similarly, Boutayeb et al. REF propose a time-varying reduced-order Luenberger-like observer for the velocity estimation for a MAV using linear acceleration measurements.
A simple time-varying observer for speed estimation of UAV
IFAC Proceedings Volumes
Mathematics