A new method to estimate the aircraft heading angle, wind velocity, and airspeed bias error is proposed without relying on the magnetometer. A GPS, rate-gyro, pitot-static tube, and sideslip angle sensor are combined through a design of an extended Kalman filter based on a vectorial geometric relation among the ground, air, and wind velocity. The feasibility of the method is validated through a desktop simulation. The flight test is conducted utilizing the estimated yaw angle as a guidance variable to evaluate the performance of the method. The estimated wind information is compared to the automatic weather system nearby.

中文翻译：

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固定翼无人机包括风速的方向轴估计

提出了一种不依赖磁力计来估计飞机航向角，风速和空速偏差误差的新方法。通过基于地面，空气和风速之间的矢量几何关系，通过扩展卡尔曼滤波器的设计，将GPS，速率陀螺仪，皮托管和侧滑角传感器组合在一起。通过桌面仿真验证了该方法的可行性。使用估计的偏航角作为指导变量进行飞行测试，以评估该方法的性能。将估计的风信息与附近的自动气象系统进行比较。