Title :
The state estimation of UAV based on UKF
Author :
Xu Wanli ; Bao Shuo ; Liu Zhun
Author_Institution :
Dept. of Inf. Eng., Acad. of Armored Force Eng., Beijing, China
Abstract :
In order to achieve the UAV´s precise positioning of the radiation target, firstly is to do the state estimation itself. The BDS/INS Integrated Navigation system is a high-precision real-time navigation scheme which has been widely used, it is not only able to pinpoint the UAV, but also can provide the UAV´s navigation information such as speed, acceleration and attitude angle etc. so it can meet the scout equipment´s work demands on UAV. This article make the Unscented Karman Filter (UKF) algorithm apply to BDS/INS Integrated Navigation system, built the UAV state estimation system and compared with experimental EKF scheme. The experimental result shows that the BDS/INS Integrated Navigation System using UKF for UAV can conduct a comprehensive and highly accurate state estimation.
Keywords :
Kalman filters; aircraft navigation; autonomous aerial vehicles; nonlinear filters; path planning; position control; state estimation; BDS-INS integrated navigation system; UAV navigation information; UAV precise positioning; UAV state estimation system; UKF algorithm; experimental EKF scheme; high-precision real-time navigation scheme; radiation target positioning; scout equipment; unscented Kalman filter algorithm; Equations; Filtering; Mathematical model; Navigation; Noise; State estimation; Vectors; BDS/INS Integrated Navigation; UAV; UKF; state estimation;
Conference_Titel :
Advanced Research and Technology in Industry Applications (WARTIA), 2014 IEEE Workshop on
Conference_Location :
Ottawa, ON
DOI :
10.1109/WARTIA.2014.6976280
