Unscented Kalman filter for position estimation of UAV by using image information

Swee Ho Tang, Takaaki Kojima, Toru Namerikawa, Che Fai Yeong, Eileen Lee Ming Su

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, the position estimation problem is solved by using unscented Kalman filter with observation uncertainty's compensations. These observation uncertainties causing the estimation become inaccurate in position estimate problem. Visual observation is difficult for an unmanned aerial vehicle equipped with only a monocular-vision camera and often results in observation error because of the detected blurred images. A method to weight the observations is proposed in order to improve the position estimation. Simulation is performed using MATLAB and Simulink to verify the proposed method. The simulation result shows that the proposed method can estimate the position accurately.

Original languageEnglish
Title of host publication2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages695-700
Number of pages6
ISBN (Print)9784907764487
DOIs
Publication statusPublished - 2015 Sep 30
Event54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
Duration: 2015 Jul 282015 Jul 30

Other

Other54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
CountryChina
CityHangzhou
Period15/7/2815/7/30

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Keywords

  • EKF
  • Position Estimation
  • UAV
  • UKF

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Tang, S. H., Kojima, T., Namerikawa, T., Yeong, C. F., & Su, E. L. M. (2015). Unscented Kalman filter for position estimation of UAV by using image information. In 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 (pp. 695-700). [7285427] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285427