Laboratory demonstration of aircraft estimation using low-cost sensors

Four nonlinear state estimators were devised which provide techniques for obtaining the angular orientation (attitude) of the aircraft. An extensive FORTRAN computer program was developed to demonstrate and evaluate the estimators by using recorded flight test data. This program simulates the estimator operation, and it compares the state estimates with actual state measurements. The program was used to evaluate the state estimators with data recorded on the NASA Ames CV-990 and CESSNA 402B aircraft. A preliminary assessment was made of the memory, word length, and timing requirements for implementing the selected state estimator on a typical microcomputer.