Interactive Robotics Laboratory
- Learning by Doing

Copyright 2017 Yu Gu, WVU Interactive Robotics Laboratory. Contact Us

Home

WVU  Statler College  MAE  LCSEE

Publication

Sensor Fusion for Attitude Estimation

Representative Articles:

Gu, Y., Gross, J., Rhudy, M., Lassak, K, "A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation," In Press, International Journal of Aerospace Engineering, 2016. (pdf)


Rhudy, M., Gu, Y., Gross, J., Gururajan, S., and Napolitano, M.R., "Sensitivity Analysis of Extended and Unscented Kalman Filters for Attitude Estimation," AIAA Journal of Aerospace Information Systems, Vol. 10, No. 3, pp. 131-143, March 2013. (pdf)


Gross, J., Gu, Y., Rhudy, M., Gururajan, S., and Napolitano, M.R., "Flight Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation," IEEE Transactions on Aerospace and Electronic Systems, vol.48, no.3, pp.2128-2139, July, 2012. (pdf)


Additional Articles:

Strader, J., Gu, Y., Gross, J., De Petrillo, M., Hardy, J., "Cooperative Relative Localization for Moving UAVs with Single Link Range Measurements," Accepted, IEEE/ION PLANS, Savannah, Georgia, Apr 2016.


Hardy, J., Strader, J., Gross, J., Gu, Y., Cabezas, R., Keck, M., Douglas, J., Taylor, C., "Unmanned Aerial Vehicle Relative Navigation in GPS Denied Environments," Accepted, IEEE/ION PLANS, Savannah, Georgia, Apr 2016.


Tian, P., Chao, H., Gu, Y., Hagerott, S., "UAV Flight Test Evaluation of Fusion Algorithms for Estimation of Angle of Attack and Sideslip Angle" AIAA SciTech Conference, San Diego, CA, Jan 2016.


Rhudy, M., Fravolini, M.L., Gu, Y., Napolitano, M., Gururajan, S., and Chao H., "Aircraft Model Independent Airspeed Estimation without Pitot Tube Measurements," IEEE Transactions on Aerospace and Electronic Systems, 51(3):1980-95, Jul. 2015.


Gross, J., Gu, Y., and Rhudy, M., "Robust UAV Relative Navigation with DGPS, INS, and Peer-to-Peer Radio Ranging," IEEE Transactions on Automation Science and Engineering, Volume 12, Issue 3, Jan 2015.


Rhudy, M., Gu, Y., Chao, H., "Wind Field Velocity and Acceleration Estimation Using a Small UAV," AIAA Modeling and Simulation Technologies Conference, Atlanta, GA, Jun 2014.


Larrabee, T., Chao, H., Rhudy, M., Gu, Y., and Napolitano, M., "Wind Field and Wake Estimation in UAV Formation Flight," American Control Conference, Portland, OR, Jun 2014.


Rhudy, M., Gu, Y., and Napolitano, M.R., "UAV Attitude, Heading, and Wind Estimation Using GPS/INS and an Air Data System," AIAA Guidance Navigation and Control Conference, Boston, MA, August 2013


Rhudy, M., Gu, Y., and Napolitano, M.R., "Low-Cost Loosely-Coupled Dual GPS/INS for Attitude Estimation with Application to a Small UAV," AIAA Guidance Navigation and Control Conference, Boston, MA, August 2013.


Rhudy, M., Gross, J., Gu, Y., and Napolitano, M.R., "Fusion of GPS and Redundant IMU Data for Attitude Estimation," AIAA Guidance, Navigation, and Control Conference, Minneapolis, MN, August, 2012.


Gross, J., Gu, Y., Gururajan, S., Seanor B., and Napolitano, M.R., "A Comparison of Extended Kalman Filter, Sigma-Point Kalman Filter, and Particle Filter in GPS/INS Sensor Fusion," 2010 AIAA Guidance, Navigation, and Control, Toronto, Ontario, Canada, Aug. 2-5, 2010.


Gross, J., Gu, Y., and Napolitano, M.R., "A Systematic Approach for Extended Kalman Filter Tuning and Low-Cost Inertial Sensor Calibration within a GPS/INS Application," 2010 AIAA Guidance, Navigation, and Control, Toronto, Ontario, Canada, Aug. 2-5, 2010.


Jarrell, J., Gu, Y., Seanor, B, and Napolitano, M.R., "Aircraft Attitude, Position, and Velocity Determination Using Sensor Fusion," 2008 AIAA Guidance, Navigation, and Control Conference, AIAA 2008-7422, Honolulu, Hawaii, August 2008.

Avionics and Robotic Systems

Representative Article:

Gu, Y., Gross, J., Barchesky, F., Chao, H.Y., and Napolitano, M.R., "Avionic Design for a Sub-Scale Fault Tolerant Flight Control Test-Bed," Chapter 21, Recent Advances in Aircraft Technology, ISBN: 978-953-51-0150-5, InTech, pp. 499-522, 2012. (pdf)


Additional Articles:

Gross, J., Keesee, A., Christian, J., Gu, Y., Scime, E., Komjathy, A., Lightsey, E.G., Pollock, C., "CUbeSat for GNSS Sounding of the Ionosphere-Plasmasphere Electron Density," AIAA SciTech Conference, San Diego, CA, Jan 2016.


Larrabee, T., Chao, H., Mandal, T., Gururajan, S., Gu, Y.,  and Napolitano, M.R., "Design, Simulation, and Flight Test Validation of a UAV Ground Control Station for Aviation Safety Research and Pilot Modeling," AIAA Guidance Navigation and Control Conference, Boston, MA, August 2013.


Gu, Y., Gururajan, S., Seanor, B., Chao, H., and Napolitano, M.R., "Building Better Tools: Experimental UAV Research at West Virginia University," 2013 American Control Conference, Washington, DC, 2013.


Gu Y., "Unmanned Aerial Vehicles as a Versatile Research Tool," Editorial,  Journal of Aeronautics & Aerospace Engineering, vol.1, iss.4, doi:10.4172/2168-9792.1000e112, 2012.


Guerra, M., Rhudy, M., Gu, Y., Seanor, B., and Napolitano, M.R., "Mobile Ground Control Station Development for Fault Tolerant UAV Research," AIAA Guidance, Navigation, and Control Conference, Minneapolis, MN, August, 2012.


Gross, J., Gu, Y., Seanor, B., Gururajan, S., and Napolitano, M.R., "Advanced Research Integrated Avionics (ARIA) System for Fault-Tolerant Flight Research," 2009 AIAA Guidance, Navigation, and Control Conference, AIAA-2009-5659, Chicago, Illinois, Aug. 10-13, 2009.


Gu, Y., Seanor, B., Gururajan, S., and Napolitano, M.R., "Integrated Avionics System for Research UAVs," 2008 AIAA Guidance, Navigation, and Control Conference, AIAA 2008-7490, Honolulu, Hawaii, August 2008.

Modeling, Simulation, Planning, and Control

Chao, H., Gu, Y., Tian, P., Zheng, C., Napolitano, M., "Wake Vortex Detection with UAV Cose Formation Flight", AIAA Atmospheric Flight Mechanics Conference, Kissimmee, FL, Jan, 2015.


Lassak, K., Rhudy, M., and Gu, Y., "On-Line Orientation Calibration of Inertial Measurement Unit Pairs using Unmanned Aerial Vehicle Flight Data," AIAA Guidance Navigation and Control Conference, Boston, MA, August 2013.


Gross, J., Gu, Y., Rhudy, M., Barchesky, F., and Napolitano, M.R. "On-line Modeling and Calibration of Low-Cost Navigation Sensors," 2011 AIAA Modeling and Simulation Technologies Conference, Portland, OR, August, 2011.


Merceruio, Z., Phillips, K., Gu, Y., Gururajan, S., and Napolitano, M.R., "Aerodynamic and Thrust Force Modeling for a Propulsion Assisted Control Aircraft Test Bed," 2011 AIAA Atmospheric Flight Mechanics Conference, Portland, OR, August, 2011.


Tancredi, D., Gu, Y., Phillips, K., Gururajan, S., and Napolitano, M.R., "Development of Adaptive Control Laws for Actuator Fault Accommodation," 2010 AIAA Guidance, Navigation, and Control, Control ID#: 814102, Toronto, Ontario, Canada, Aug. 2-5, 2010.


Gu, Y., Sagoo, G. K., Seanor, B., Campa, G., Fravolini, M. L., and Napolitano, M. R., "Curvature-Velocity-Orientation Method for UAV Collision Avoidance," 2008 AIAA Guidance, Navigation, and Control Conference, AIAA 2008-6628, Honolulu, Hawaii, August 2008.

Nonlinear Stochastic Filters

Lassak, K., Gu, Y., "Real-Time Extended Kalman Filter Stability Indicator," Invited, AIAA SciTech Conference, San Diego, CA, Jan 2016


Rhudy, M., Gu, Y., and Napolitano, M.R., "Relaxation of Stability Requirements for Extended Kalman Filter Stability within GPS/INS Attitude Estimation," AIAA SciTech Conference, Washington DC, January 2014.


Rhudy, M., Gu, Y., "Online Stochastic Convergence Analysis of the Kalman Filter," International Journal of Stochastic Analysis, vol. 2013, Article ID 240295, 9 pages, 2013. doi:10.1155/2013/240295.


Rhudy, M., Gu, Y., and Napolitano, M.R., "Does the Unscented Kalman Filter Converge Faster than the Extended Kalman Filter?  A Counter Example," AIAA Guidance Navigation and Control Conference, Boston, MA, August 2013.


Rhudy, M., Gu, Y., Napolitano, M.R., "An Analytical Approach for Comparing Linearization Methods in EKF and UKF," International Journal of Advanced Robotic Systems, 2013.


Rhudy, M., Gu, Y., and Napolitano, M.R., "Relaxation of Initial Error and Noise Bounds for Stability of GPS/INS Attitude Estimation," AIAA Guidance, Navigation, and Control Conference, Minneapolis, MN, August, 2012.


Rhudy, M., Gu, Y., Gross, J., and Napolitano, M.R., "Evaluation of Matrix Square Root Operations for UKF within a UAV-Based GPS/INS Sensor Fusion Application," International Journal of Navigation and Observation, Article ID 416828, oi:10.1155/2011/416828, 2011.


Rhudy, M., Gu, Y., Gross, J., and Napolitano, M. R., "Sensitivity Analysis of EKF and UKF in GPS/INS Sensor Fusion," 2011 AIAA Guidance, Navigation, and Control Conference, Portland, OR, August, 2011.

Autonomous Formation Flight Control

Representative Article:

Gu, Y., Campa, G., Seanor, B., Gururajan, S., and Napolitano, M.R., "Autonomous Formation Flight - Design and Experiments," Chapter 12, Aerial Vehicles, ISBN 978-953-7619-41-1, I-Tech, pp. 233-256, January 2009. (pdf)


Additional Articles:

Rice, C., Gu, Y., Chao, H., Larrabee, T., Gururajan, S., Napolitano, M., Mandal, T., Rhudy, M., "Control Performance Analysis for Autonomous Close Formation Flight Experiments," International Conference on Unmanned Aircraft Systems, Orlando, FL, May, 2014.


Tancredi, D., Gu, Y., Chao, H., "Fault Tolerant Formation Flight Control Using Different Adaptation Techniques," 2013 International Conference on Unmanned Aircraft Systems, Atlanta, GA, May 2013.


Gu, Y., Campa, G., Innocenti, M., "Formation Flight Control," Editorial, International Journal of Aerospace Engineering, Volume 2011, Article ID 798981, doi:10.1155/2011/798981, 2011.


Campa, G., Gu, Y., Seanor, B., Napolitano, M.R., Pollini, L., and Fravolini, M.L., "Design And Flight Testing Of Nonlinear Formation Control Laws," Control Engineering Practice, Vol. 15, No. 9, pp 1077-1092, September 2007.


Gu, Y., Seanor, B., Campa, G., Napolitano, M.R., Rowe, L., Gururajan, S., Perhinschi, M.G., and Wan, S., "Design And Flight Testing Evaluation Of Formation Control Laws," IEEE Transactions on Control Systems Technology, Vol.14, No. 6, pp. 1105-1112, November 2006.


Gu, Y., Seanor, B., Campa, G., Napolitano, M. R., Rowe, L., and Gururajan, S., "Autonomous Formation Flight: Hardware Development," 14th Mediterranean Conference on Control and Automation, pp.1-6, Ancona, Italy, June 2006.


Seanor, B., Gu, Y., Napolitano, M. R., Campa, G., Gururajan, S., and Rowe, L., "3 Aircraft Formation Flight Experiment," 14th Mediterranean Conference on Control and Automation, Ancona, Italy, June 2006.


Campa, G., Seanor, B., Gu, Y., and Napolitano, M.R., "NLDI Guidance Control Laws For Close Formation Flight," Proceedings of the American Control Conference, vol. 4, pp. 2972-2977, Portland, OR, June 2005.


Seanor, B., Campa, G., Gu, Y., Napolitano, M.R., Rowe, L., and Perhinschi, M.G., "Formation Flight Test Results for UAV Research Aircraft Models," AIAA 1st Intelligent Systems Technical Conference, AIAA 2004-6251, Chicago, IL, September 2004.

Vision-Aided Navigation

Representative Article:

Rhudy, M., Gu, Y., Chao, H., and Gross, J., "Unmanned Aerial Vehicle Navigation Using Wide-Field Optical Flow and Inertial Sensors," Journal of Robotics, Volume 2015, Article ID 251379, Oct 2015. (pdf)


Additional Articles:

Chao, H., Gu, Y., and Napolitano, M.R., "A Survey of Optical Flow Techniques for Robotics Navigation Applications," Journal of Intelligent & Robotic Systems (2014): 1-12.


Rhudy, M., Chao, H., Gu, Y., "Wide-Field Optical Flow Aided Inertial Navigation for Unmanned Aerial Vehicles," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Sep, 2014.


Chao, H., Gu, Y., Napolitano, M.R., "A Survey of Optical Flow Techniques for UAV Navigation Applications," 2013 International Conference on Unmanned Aircraft Systems, Atlanta, GA, May 2013.


Chao, H., Gu, Y., Gross, J., Guo, G., Fravolini, M.L., and Napolitano, M.R., "A Comparative Study of Optical Flow and Traditional Sensors in UAV Navigation," 2013 American Control Conference, Washington, DC, 2013.


Effland, J., Seanor, B., Gu, Y., and Napolitano, M.R., "Application of Machine Vision in Unmanned Aerial Systems for Autonomous Target Tracking," 2008 AIAA Guidance, Navigation, and Control Conference, AIAA 2008-7251, Honolulu, Hawaii, August 2008.


Mammarella, M. , Campa, G., Fravolini, M.L., Gu, Y., Seanor, B., and Napolitano, M.R., "A Comparison of Optical Flow algorithms for Real Time Aircraft Guidance and Navigation," 2008 AIAA Guidance, Navigation, and Control Conference, AIAA 2008-7494, Honolulu, Hawaii, August 2008.


Mammarella, M., Campa, G., Napolitano, M.R., Fravolini, M.L., Perhinschi, M.G., and Gu, Y., "Machine Vision / GPS Integration Using EKF for the UAV Aerial Refueling Problem," Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on, Vol. 38, No. 6, pp.791-801, November, 2008.

Education

Vassiliadis, D., Gu, Y., and Pisano, D.J., "Ionospheric Rocket Payload Development: Project and Course," the American Society for Engineering Education (ASEE) Annual Conference, San Antonio, TX, June, 2012.

1. Sensor Fusion and Estimation

2. Avionics and Robotic Systems

3. Modeling, Simulation, Planning, and Control

4. Nonlinear Stochastic Filters

5. Autonomous Formation Flight Control

6. Vision-Aided Navigation

7. Pilot-Vehicle Interaction

8. Education

Pilot-Vehicle Interaction

Mandal, T., Gu, Y., "Online Pilot Model Parameter Estimation Using Sub-Scale Aircraft Flight Data," Invited, AIAA SciTech Conference, San Diego, CA, Jan 2016.


Mandal, T. and Gu, Y., "Pilot-Vehicle System Modeling Using Sub-Scale Flight Experiments," AIAA SciTech Conference, Washington DC, January 2014.


Mandal, T., Gu, Y., Chao, H., and Rhudy, M., "Flight Data Analysis of Pilot-Induced-Oscillations of a Remotely Piloted Aircraft," AIAA Guidance Navigation and Control Conference, Boston, MA, August 2013.