Estimation of UAV Position with Use of Smoothing Algorithms

• Autorzy: Kaniewski P. , Gil R. , Konatowski S.

Identyfikatory

DOI

10.1515/mms-2017-0013

• Języki publikacji: EN

Abstrakty

EN

The paper presents methods of on-line and off-line estimation of UAV position on the basis of measurements from its integrated navigation system. The navigation system installed on board UAV contains an INS and a GNSS receiver. The UAV position, as well as its velocity and orientation are estimated with the use of smoothing algorithms. For off-line estimation, a fixed-interval smoothing algorithm has been applied. On-line estimation has been accomplished with the use of a fixed-lag smoothing algorithm. The paper includes chosen results of simulations demonstrating improvements of accuracy of UAV position estimation with the use of smoothing algorithms in comparison with the use of a Kalman filter.

Słowa kluczowe

EN

Unmanned Aerial Vehicle; Inertial Navigation System; Global Navigation Satellite System; Integrated Navigation System; synthetic aperture radar; Kalman Filter; smoothing algorithm

• Wydawca: Komitet Metrologii i Aparatury Naukowej PAN
• Czasopismo: Metrology and Measurement Systems
• Rocznik: 2017
• Tom: Vol. 24, nr 1
• Strony: 127--142
• Opis fizyczny: Bibliogr. 25 poz., rys., tab., wykr., wzory

Twórcy

autor

Kaniewski P.

• Military University of Technology, Institute of Radioelectronics, Gen. S. Kaliski 2, 00-908 Warsaw, Poland

autor

Gil R.

• Military University of Technology, Institute of Radioelectronics, Gen. S. Kaliski 2, 00-908 Warsaw, Poland

autor

Konatowski S.

• Military University of Technology, Institute of Radioelectronics, Gen. S. Kaliski 2, 00-908 Warsaw, Poland

Bibliografia

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Uwagi

EN

This project was supported by the National Centre for Research and Development, Poland, within the scope of Applied Research Programme under Research Project PBS/B3/15/2012.

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).