Pitot-Aided Attitude and Air Velocity Estimation with Almost Global Asymptotic Stability Guarantees
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866914315460673536 |
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| author | Tchonkeu, Melone Nyoba Berkane, Soulaimane Hamel, Tarek |
| author_facet | Tchonkeu, Melone Nyoba Berkane, Soulaimane Hamel, Tarek |
| contents | This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS) guarantees. A cascade observer architecture is developed, in which a Riccati/Kalman-type filter estimates the body-fixed frame air velocity and the vehicle's tilt using IMU data as inputs and Pitot measurements as outputs. Under mild excitation conditions, the resulting air velocity and tilt estimation error dynamics are shown to be uniformly observable. The estimated tilt is then combined with magnetometer measurements in a nonlinear observer on SO(3) to recover the full attitude. Rigorous analysis establishes AGAS of the overall cascade structure under the uniform observability (UO) condition. The effectiveness of the proposed approach is demonstrated through validation on real flight data. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_08273 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Pitot-Aided Attitude and Air Velocity Estimation with Almost Global Asymptotic Stability Guarantees Tchonkeu, Melone Nyoba Berkane, Soulaimane Hamel, Tarek Systems and Control This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS) guarantees. A cascade observer architecture is developed, in which a Riccati/Kalman-type filter estimates the body-fixed frame air velocity and the vehicle's tilt using IMU data as inputs and Pitot measurements as outputs. Under mild excitation conditions, the resulting air velocity and tilt estimation error dynamics are shown to be uniformly observable. The estimated tilt is then combined with magnetometer measurements in a nonlinear observer on SO(3) to recover the full attitude. Rigorous analysis establishes AGAS of the overall cascade structure under the uniform observability (UO) condition. The effectiveness of the proposed approach is demonstrated through validation on real flight data. |
| title | Pitot-Aided Attitude and Air Velocity Estimation with Almost Global Asymptotic Stability Guarantees |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2602.08273 |