Position and velocity optimal sensor-based navigation filters for UAVs Export

@inproceedings{PBatista09, abstract = {The paper presents the design and performance evaluation of a novel navigation solution that merges low-rate delayed GPS measurements with high-rate linear acceleration, attitude, and angular velocity measurements to estimate, in three dimensions, linear motion quantities (position, linear velocity, an acceleration of gravity) of unmanned aerial vehicles (UAVs). The design is based on the continuous-discrete Kalman filter solution for an equivalent LTI realization and allows for the natural use of frequency weights to explicitly achieve adequate disturbance rejection and measurement noise attenuation on the state estimates. The proposed solution is optimal with respect to all quantities assuming exact angular measurements and, in the presence of noisy angular quantities, it outperforms classic solutions developed in inertial coordinates. Simulation results illustrate the achievable performance in the presence of realistic measurements, including noise and delays.}, author = {Batista, P. and Silvestre, C. and Oliveira, P.}, citeulike-article-id = {6056771}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ACC.2009.5159877}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5159877}, day = {10}, doi = {10.1109/ACC.2009.5159877}, journal = {American Control Conference, 2009. ACC '09.}, keywords = {filter, gps, inertia, kalman, uav}, month = {July}, pages = {5404--5409}, posted-at = {2009-11-02 16:23:05}, priority = {2}, title = {Position and velocity optimal sensor-based navigation filters for UAVs}, url = {http://dx.doi.org/10.1109/ACC.2009.5159877}, year = {2009} }

TY - CONF ID - PBatista09 L3 - citeulike-article-id:6056771 N2 - The paper presents the design and performance evaluation of a novel navigation solution that merges low-rate delayed GPS measurements with high-rate linear acceleration, attitude, and angular velocity measurements to estimate, in three dimensions, linear motion quantities (position, linear velocity, an acceleration of gravity) of unmanned aerial vehicles (UAVs). The design is based on the continuous-discrete Kalman filter solution for an equivalent LTI realization and allows for the natural use of frequency weights to explicitly achieve adequate disturbance rejection and measurement noise attenuation on the state estimates. The proposed solution is optimal with respect to all quantities assuming exact angular measurements and, in the presence of noisy angular quantities, it outperforms classic solutions developed in inertial coordinates. Simulation results illustrate the achievable performance in the presence of realistic measurements, including noise and delays. JF - American Control Conference, 2009. ACC '09. EP - 5409 TI - Position and velocity optimal sensor-based navigation filters for UAVs SP - 5404 KW - filter KW - gps KW - inertia KW - kalman KW - uav AU - Batista, P AU - Silvestre, C AU - Oliveira, P PY - 2009/07/10/ UR - http://dx.doi.org/10.1109/ACC.2009.5159877 ER -