State estimation for unmanned aerial vehicles using IMU and UWB

Abstract

In this thesis, the state estimation problem for Unmanned aerial vehicles using vector measurements and range measurements was studied. Several nonlinear attitude observers relying on Inertial Measurements Unit (IMU) measurements were proposed and compared. Two full state (orientation, position and velocity) approaches for non accelerated vehicles relying on IMU and UWB measurements were proposed and compared. Reconstruction methods for position measurements were proposed when using less than 4 UWB anchors. Furthermore, two nonlinear full state observers for accelerated vehicles relying on IMU and range measurements were proposed, discussed and compared. Finally, all the full state estimation methods and observer were compared in different scenarios to help the reader decide and choose an estimation method according to needed performance and flight condition and scenario.