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Features of Invariant Extended Kalman Filter Applied to Unmanned Aerial Vehicle Navigation

This research used an invariant extended Kalman filter (IEKF) for the navigation of an unmanned aerial vehicle (UAV), and compared the properties and performance of this IEKF with those of an open-source navigation method based on an extended Kalman filter (EKF). The IEKF is a fairly new variant of...

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Principais autores: Nak Yong Ko, Wonkeun Youn, In Ho Choi, Gyeongsub Song, Tae Sik Kim
Formato: Artigo
Idioma:Inglês
Publicado em: MDPI AG 2018-08-01
coleção:Sensors
Assuntos:
invariant extended Kalman filter
unmanned aerial vehicle
location
attitude
velocity
GPS
MEMS-AHRS
Kalman gain
error covariance
innovation
estimation
Acesso em linha:http://www.mdpi.com/1424-8220/18/9/2855
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