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CEAS EuroGNC 2022

IMU-based Aircraft Ground Tracking using Strapdown Integration, Vibration deduced Speed Estimation and Particle Filtering
Mats Martens Research Assistant, Technische Universität Berlin, Chair of Flight Guidance and Air Transport, 10587, Berlin, Germany.
Abstract:
This work shows methods in the field of inertial sensor fusion and additional engineering knowledge to follow the position of an aircraft on the airport tarmac. Strapdown Integration is used to retrieve the drift affected position estimate of the aircraft from accelerometer and gyroscope data. The accelerometer data is used again to perform a vibration analysis using Power Spectral Density (PSD) and Root Mean Square (RMS) within the frequency band between 10Hz and 250Hz. By splitting the dataset into a reference and a test dataset, this yields a speed estimate based on the reference dataset. The Strapdown Integration based velocity estimate and the vibration deduced speed estimate are fused by a complementary filter. Furthermore, Zero Velocity Update reduces the effect of bias instability. Finally, knowing that aircraft under normal operation remain on the airport tarmac, a bootstrap particle filter exploits this additional knowledge of the airport layout. On the test dataset, the continuously rising position estimation error of the route, based on the fused speed and a linear kinematic model, was outperformed by the bootstrap particle filter.
Keywords: Taxi Guidance; Inertial Sensors; Particle Filter; Vibration Analysis; Velocity Estimation
 View PDF CEAS-GNC-2022-038


Mats Martens: IMU-based Aircraft Ground Tracking using Strapdown Integration, Vibration deduced Speed Estimation and Particle Filtering. Proceedings of the 2022 CEAS EuroGNC conference. Berlin, Germany. May 2022. CEAS-GNC-2022-038.
BibTeX entry:

@Incollection{CEAS-GNC-2022-038,
    authors = {Martens, Mats},
    title = {IMU-based Aircraft Ground Tracking using Strapdown Integration, Vibration deduced Speed Estimation and Particle Filtering},
    booktitle = {Proceedings of the 2022 {CEAS EuroGNC} conference},
    address = {Berlin, Germany},
    month = may,
    year = {2022},
    note = {CEAS-GNC-2022-038}
}