Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system
This paper presents discrete time implementation of a high gain observer (HGO) and extended term to estimate the state velocity and acceleration from the position measured by a low-cost sensor installed on-board the unmanned aerial vehicle (UAV). Owing to the low-cost sensor, the signal produced fro...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Institute of Physics Publishing
2017
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| Online Access: | http://psasir.upm.edu.my/id/eprint/62112/ http://psasir.upm.edu.my/id/eprint/62112/1/Implementation%20of%20high-gain%20observer.pdf |
| _version_ | 1848854561316405248 |
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| author | Mohd Nor, Elya Mohd Noor, Samsul Bahari Bahiki, Muhammad Rijaluddin Md Ali, Syaril Azrad |
| author_facet | Mohd Nor, Elya Mohd Noor, Samsul Bahari Bahiki, Muhammad Rijaluddin Md Ali, Syaril Azrad |
| author_sort | Mohd Nor, Elya |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | This paper presents discrete time implementation of a high gain observer (HGO) and extended term to estimate the state velocity and acceleration from the position measured by a low-cost sensor installed on-board the unmanned aerial vehicle (UAV). Owing to the low-cost sensor, the signal produced from fused IR–OS is noisy and therefore, additional filters are used to remove the noise. This study proposes an alternative to this standard and tedious procedure using HGO. The discrete time implementation of HGO and its extended term is presented and ground tests are conducted to verify the algorithm by inducing a dynamic motion on the UAV platform embedded with the fusion IR-OS onboard. A comparison study is conducted using standard numerical differentiation and ground truth measurement by OptiTrack. The results show that EHGO can produce a velocity signal with the same quality as that of differentiated signal from fused IR-OS using Kalman filter. The novelty of HGO lies in its simplicity and its minimal tuning of parameters. |
| first_indexed | 2025-11-15T11:11:49Z |
| format | Conference or Workshop Item |
| id | upm-62112 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T11:11:49Z |
| publishDate | 2017 |
| publisher | Institute of Physics Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-621122019-04-10T09:06:58Z http://psasir.upm.edu.my/id/eprint/62112/ Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system Mohd Nor, Elya Mohd Noor, Samsul Bahari Bahiki, Muhammad Rijaluddin Md Ali, Syaril Azrad This paper presents discrete time implementation of a high gain observer (HGO) and extended term to estimate the state velocity and acceleration from the position measured by a low-cost sensor installed on-board the unmanned aerial vehicle (UAV). Owing to the low-cost sensor, the signal produced from fused IR–OS is noisy and therefore, additional filters are used to remove the noise. This study proposes an alternative to this standard and tedious procedure using HGO. The discrete time implementation of HGO and its extended term is presented and ground tests are conducted to verify the algorithm by inducing a dynamic motion on the UAV platform embedded with the fusion IR-OS onboard. A comparison study is conducted using standard numerical differentiation and ground truth measurement by OptiTrack. The results show that EHGO can produce a velocity signal with the same quality as that of differentiated signal from fused IR-OS using Kalman filter. The novelty of HGO lies in its simplicity and its minimal tuning of parameters. Institute of Physics Publishing 2017 Conference or Workshop Item PeerReviewed text en http://psasir.upm.edu.my/id/eprint/62112/1/Implementation%20of%20high-gain%20observer.pdf Mohd Nor, Elya and Mohd Noor, Samsul Bahari and Bahiki, Muhammad Rijaluddin and Md Ali, Syaril Azrad (2017) Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system. In: AEROS Conference 2017, 12 Dec. 2017, Putrajaya, Malaysia. (pp. 1-6). https://iopscience.iop.org/article/10.1088/1757-899X/270/1/012020 10.1088/1757-899X/270/1/012020 |
| spellingShingle | Mohd Nor, Elya Mohd Noor, Samsul Bahari Bahiki, Muhammad Rijaluddin Md Ali, Syaril Azrad Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system |
| title | Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system |
| title_full | Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system |
| title_fullStr | Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system |
| title_full_unstemmed | Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system |
| title_short | Implementation of high-gain observer on low-cost fused IR- OS sensor embedded in UAV system |
| title_sort | implementation of high-gain observer on low-cost fused ir- os sensor embedded in uav system |
| url | http://psasir.upm.edu.my/id/eprint/62112/ http://psasir.upm.edu.my/id/eprint/62112/ http://psasir.upm.edu.my/id/eprint/62112/ http://psasir.upm.edu.my/id/eprint/62112/1/Implementation%20of%20high-gain%20observer.pdf |