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The Extended/Unscented Kalman Filter of DLR's ACT/FHS

Petit, Philippe Joseph (2018) The Extended/Unscented Kalman Filter of DLR's ACT/FHS. DLR-Interner Bericht. DLR-IB-FT-BS-2018-9. Deutsches Luft-und Raumfahrt Zentrum. 46 S.

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DLR’s active control technology/flying helicopter simulator (ACT/FHS) research rotorcraft supports research in a variety of fields like automatic flight control, active sidestick technology for pilot assistance, and external sling load stabilization. For the online estimation of variables relevant for the automatic control system as well as for pilot feedback, an Extended Kalman Filter / Unscented Kalman Filter combination was implemented. The filter fuses measurements taken by multiple sensors and estimates relevant rotary and translatory variables. Additionally, it performs an online wind estimation. Multiple output variables are computed for further processing in flight control systems and/or displays for the pilot. The filter also accounts for delayed sensor measurements which typically occur in GPS-measurements and supports the user-defined override of the internal wind estimation. Accounting for the unreliability of aerodynamic measurements of helicopters during hover, this filter neglects wind measurements below a certain speed threshold.

Item URL in elib:https://elib.dlr.de/118652/
Document Type:Monograph (DLR-Interner Bericht)
Title:The Extended/Unscented Kalman Filter of DLR's ACT/FHS
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Petit, Philippe JosephPhilippe.Petit (at) dlr.deUNSPECIFIED
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:46
Keywords:EKF, UKF, Kalman Filter, ACT/FHS, State Estimation
Institution:Deutsches Luft-und Raumfahrt Zentrum
Department:Institut für Flugsystemtechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old), L - The Quiet und Comfortable Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Rotorcraft
Deposited By: Petit, Philippe Joseph
Deposited On:06 Feb 2018 10:31
Last Modified:06 Feb 2018 10:31

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