Precise-Point-Positioning Estimations for Recreational Drones Using Optimized Cubature-Extended Kalman Filtering
In modern-day multi-dimensional recreational drones (UAVs), the global navigation satellite system <italic>(GNSS)</italic> units in- use are commonly fraught with precise-point-positioning <italic>(PPP)</italic> data errors or inaccuracies, hence, necessitating this work. The...
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9550788/ |
| _version_ | 1818986206566809600 |
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| author | Williams-Paul Nwadiugwu Seung-Hwan Kim Dong-Seong Kim |
| author_facet | Williams-Paul Nwadiugwu Seung-Hwan Kim Dong-Seong Kim |
| author_sort | Williams-Paul Nwadiugwu |
| collection | DOAJ |
| description | In modern-day multi-dimensional recreational drones (UAVs), the global navigation satellite system <italic>(GNSS)</italic> units in- use are commonly fraught with precise-point-positioning <italic>(PPP)</italic> data errors or inaccuracies, hence, necessitating this work. These data inaccuracies, occasioned by the system’s drawbacks such as sudden <italic>GPS</italic> lock or jamming, embedded device misalignment, drone’s limited communication coverage, signaling and detection, all contributes to the system’s <italic>PPP</italic> computation complexity. To mitigate PPP complexity, an intelligent and robust accurate continuous-discrete <italic>(ACD)</italic> based hybrid cubature-extended Kalman filter <italic>(C-EKF)</italic> computation model for an integrated <italic>GNSS</italic> unit is corroborated in this article. More precisely, time updates to the state and parameter sub-vectors for the <italic>GNSS</italic> unit is accomplished using the third-degree spherical-radial cubature rule. The system’s testbed simulation is then conducted using tightly-coupled units of (i) ring laser gyroscope (RLG) and (ii) micro-electro-mechanical system (MEMS) variants of the inertial measurement unit (IMU) to ascertain the PPP cooperative tendencies. Optimized performance comparisons of the proposed hybrid <italic>C-EKF</italic> over the existing cubature Kalman filter <italic>(CKF)</italic> and extended Kalman filter <italic>(EKF)</italic> models with-respect-to (w.r.t) its probabilistic outages, <italic>Yaw</italic> error-differences and ergodic capacities are demonstrated and presented. |
| first_indexed | 2024-12-20T18:47:07Z |
| format | Article |
| id | doaj.art-27e7818052e54906a764f40c764c345e |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-20T18:47:07Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-27e7818052e54906a764f40c764c345e2022-12-21T19:29:40ZengIEEEIEEE Access2169-35362021-01-01913436913438310.1109/ACCESS.2021.31160589550788Precise-Point-Positioning Estimations for Recreational Drones Using Optimized Cubature-Extended Kalman FilteringWilliams-Paul Nwadiugwu0https://orcid.org/0000-0001-5488-2350Seung-Hwan Kim1https://orcid.org/0000-0002-4118-8703Dong-Seong Kim2https://orcid.org/0000-0002-2977-5964Department of IT Convergence Engineering, ICT-Convergence Research Center, Kumoh National Institute of Technology, Gumi, South KoreaDepartment of IT Convergence Engineering, ICT-Convergence Research Center, Kumoh National Institute of Technology, Gumi, South KoreaDepartment of IT Convergence Engineering, ICT-Convergence Research Center, Kumoh National Institute of Technology, Gumi, South KoreaIn modern-day multi-dimensional recreational drones (UAVs), the global navigation satellite system <italic>(GNSS)</italic> units in- use are commonly fraught with precise-point-positioning <italic>(PPP)</italic> data errors or inaccuracies, hence, necessitating this work. These data inaccuracies, occasioned by the system’s drawbacks such as sudden <italic>GPS</italic> lock or jamming, embedded device misalignment, drone’s limited communication coverage, signaling and detection, all contributes to the system’s <italic>PPP</italic> computation complexity. To mitigate PPP complexity, an intelligent and robust accurate continuous-discrete <italic>(ACD)</italic> based hybrid cubature-extended Kalman filter <italic>(C-EKF)</italic> computation model for an integrated <italic>GNSS</italic> unit is corroborated in this article. More precisely, time updates to the state and parameter sub-vectors for the <italic>GNSS</italic> unit is accomplished using the third-degree spherical-radial cubature rule. The system’s testbed simulation is then conducted using tightly-coupled units of (i) ring laser gyroscope (RLG) and (ii) micro-electro-mechanical system (MEMS) variants of the inertial measurement unit (IMU) to ascertain the PPP cooperative tendencies. Optimized performance comparisons of the proposed hybrid <italic>C-EKF</italic> over the existing cubature Kalman filter <italic>(CKF)</italic> and extended Kalman filter <italic>(EKF)</italic> models with-respect-to (w.r.t) its probabilistic outages, <italic>Yaw</italic> error-differences and ergodic capacities are demonstrated and presented.https://ieeexplore.ieee.org/document/9550788/4-D trajectory recreational dronesglobal navigation satellite system (GNSS)inertial measurement unit (IMU)hybrid cubature-extended Kalman filter (C-EKF)precise point positioning (PPP) |
| spellingShingle | Williams-Paul Nwadiugwu Seung-Hwan Kim Dong-Seong Kim Precise-Point-Positioning Estimations for Recreational Drones Using Optimized Cubature-Extended Kalman Filtering IEEE Access 4-D trajectory recreational drones global navigation satellite system (GNSS) inertial measurement unit (IMU) hybrid cubature-extended Kalman filter (C-EKF) precise point positioning (PPP) |
| title | Precise-Point-Positioning Estimations for Recreational Drones Using Optimized Cubature-Extended Kalman Filtering |
| title_full | Precise-Point-Positioning Estimations for Recreational Drones Using Optimized Cubature-Extended Kalman Filtering |
| title_fullStr | Precise-Point-Positioning Estimations for Recreational Drones Using Optimized Cubature-Extended Kalman Filtering |
| title_full_unstemmed | Precise-Point-Positioning Estimations for Recreational Drones Using Optimized Cubature-Extended Kalman Filtering |
| title_short | Precise-Point-Positioning Estimations for Recreational Drones Using Optimized Cubature-Extended Kalman Filtering |
| title_sort | precise point positioning estimations for recreational drones using optimized cubature extended kalman filtering |
| topic | 4-D trajectory recreational drones global navigation satellite system (GNSS) inertial measurement unit (IMU) hybrid cubature-extended Kalman filter (C-EKF) precise point positioning (PPP) |
| url | https://ieeexplore.ieee.org/document/9550788/ |
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