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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.06133 |
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| _version_ | 1866908695425712128 |
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| author | Tchonkeu, Melone Nyoba Berkane, Soulaimane Hamel, Tarek |
| author_facet | Tchonkeu, Melone Nyoba Berkane, Soulaimane Hamel, Tarek |
| contents | This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an interesting and practically relevant challenge for UAV navigation. The contribution of the paper is twofold: (i) an observability analysis establishing the conditions for uniform observability, which are useful for trajectory planning and motion control of the UAV; and (ii) the design of a nonlinear observer on SO3R3R that incorporates pitot-tube, barometric altitude, and magnetometer measurements as outputs, with IMU data used as inputs, within a unified framework. Simulation results are presented to confirm the convergence and robustness of the proposed design, including under minimally excited trajectories. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_06133 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Nonlinear Observer for Air-Velocity and Attitude Estimation Using Pitot and Barometric Measurements Tchonkeu, Melone Nyoba Berkane, Soulaimane Hamel, Tarek Systems and Control This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an interesting and practically relevant challenge for UAV navigation. The contribution of the paper is twofold: (i) an observability analysis establishing the conditions for uniform observability, which are useful for trajectory planning and motion control of the UAV; and (ii) the design of a nonlinear observer on SO3R3R that incorporates pitot-tube, barometric altitude, and magnetometer measurements as outputs, with IMU data used as inputs, within a unified framework. Simulation results are presented to confirm the convergence and robustness of the proposed design, including under minimally excited trajectories. |
| title | A Nonlinear Observer for Air-Velocity and Attitude Estimation Using Pitot and Barometric Measurements |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2512.06133 |