A Nonlinear Double Model for Multisensor-Integrated Navigation Using the Federated EKF Algorithm for Small UAVs

A Nonlinear Double Model for Multisensor-Integrated Navigation Using the Federated EKF Algorithm for Small UAVs

Aimed at improving upon the disadvantages of the single centralized Kalman filter for integrated navigation, including its fragile robustness and low solution accuracy, a nonlinear double model based on the improved decentralized federated extended Kalman filter (EKF) for integrated navigation is pr...

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Bibliographic Details
Main Authors: Yue Yang, Xiaoxiong Liu, Weiguo Zhang, Xuhang Liu, Yicong Guo
Format: Article
Language:English
Published: MDPI AG 2020-05-01
Series:Sensors
Subjects:
nonlinear double model
federated EKF
multisensor model
small UAV
state estimation
Online Access:https://www.mdpi.com/1424-8220/20/10/2974

Internet

https://www.mdpi.com/1424-8220/20/10/2974

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