uav toolbox - multi-instance guidance model - adding GPS / IMU sensors plus Enhanced Kalman filter

Hi, is there simple model / example available which adds GPS sensors / IMUs and EKF into the example model of the open_system("reducedOrderMultiUAVModel") example mentioned in the UAV reference guide ?

Does not need to support MultiUAV initially so even a single UAV model appreciated.

0r is there a better fully formed simulink model already available, any pointers to an example appreciated.

Thanks In Advance

Answer 1

[Sameer]

Hi @Dave

I don't think there is a direct, Simulink example that extends the open_system("reducedOrderMultiUAVModel") demo to include GPS/IMU sensors and an EKF for state estimation, especially for a single UAV scenario.

However, I recommend checking out the following File Exchange submission, which provides a Simulink model for attitude estimation using real-time Accelerometer, Gyroscope, and Magnetometer data with an Extended Kalman Filter (EKF):

https://www.mathworks.com/matlabcentral/fileexchange/83113-simulinkekfattitude

While it focuses on attitude estimation, it demonstrates the integration of IMU sensors and an EKF, which could serve as a solid starting point for your application. You can adapt or extend this model to include GPS data and tailor it to your UAV scenario.

Hope this helps!

[Dave]

Thanks for your suggestion - much appreciated!