Estimation of UAV Position with Use of Smoothing Algorithms
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...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Polish Academy of Sciences
2017-03-01
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| Series: | Metrology and Measurement Systems |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/mms.2017.24.issue-1/mms-2017-0013/mms-2017-0013.xml?format=INT |
| _version_ | 1818339528528625664 |
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| author | Kaniewski Piotr Gil Rafał Konatowski Stanisław |
| author_facet | Kaniewski Piotr Gil Rafał Konatowski Stanisław |
| author_sort | Kaniewski Piotr |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-13T15:28:26Z |
| format | Article |
| id | doaj.art-86564fc818cb405fa675d39ff230492d |
| institution | Directory Open Access Journal |
| issn | 2300-1941 |
| language | English |
| last_indexed | 2024-12-13T15:28:26Z |
| publishDate | 2017-03-01 |
| publisher | Polish Academy of Sciences |
| record_format | Article |
| series | Metrology and Measurement Systems |
| spelling | doaj.art-86564fc818cb405fa675d39ff230492d2022-12-21T23:40:16ZengPolish Academy of SciencesMetrology and Measurement Systems2300-19412017-03-0124112714210.1515/mms-2017-0013mms-2017-0013Estimation of UAV Position with Use of Smoothing AlgorithmsKaniewski Piotr0Gil Rafał1Konatowski Stanisław2Military University of Technology, Institute of Radioelectronics, Gen. S. Kaliski 2, 00-908 Warsaw, PolandMilitary University of Technology, Institute of Radioelectronics, Gen. S. Kaliski 2, 00-908 Warsaw, PolandMilitary University of Technology, Institute of Radioelectronics, Gen. S. Kaliski 2, 00-908 Warsaw, PolandThe 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.http://www.degruyter.com/view/j/mms.2017.24.issue-1/mms-2017-0013/mms-2017-0013.xml?format=INTUnmanned Aerial VehicleInertial Navigation SystemGlobal Navigation Satellite SystemIntegrated Navigation SystemSynthetic Aperture RadarKalman FilterSmoothing Algorithm |
| spellingShingle | Kaniewski Piotr Gil Rafał Konatowski Stanisław Estimation of UAV Position with Use of Smoothing Algorithms Metrology and Measurement Systems Unmanned Aerial Vehicle Inertial Navigation System Global Navigation Satellite System Integrated Navigation System Synthetic Aperture Radar Kalman Filter Smoothing Algorithm |
| title | Estimation of UAV Position with Use of Smoothing Algorithms |
| title_full | Estimation of UAV Position with Use of Smoothing Algorithms |
| title_fullStr | Estimation of UAV Position with Use of Smoothing Algorithms |
| title_full_unstemmed | Estimation of UAV Position with Use of Smoothing Algorithms |
| title_short | Estimation of UAV Position with Use of Smoothing Algorithms |
| title_sort | estimation of uav position with use of smoothing algorithms |
| topic | Unmanned Aerial Vehicle Inertial Navigation System Global Navigation Satellite System Integrated Navigation System Synthetic Aperture Radar Kalman Filter Smoothing Algorithm |
| url | http://www.degruyter.com/view/j/mms.2017.24.issue-1/mms-2017-0013/mms-2017-0013.xml?format=INT |
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