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 language | English |
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Title of host publication | 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 695-700 |
Number of pages | 6 |
ISBN (Print) | 9784907764487 |
DOIs | |
Publication status | Published - 2015 Sep 30 |
Event | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China Duration: 2015 Jul 28 → 2015 Jul 30 |
Other
Other | 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 |
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Country | China |
City | Hangzhou |
Period | 15/7/28 → 15/7/30 |
Keywords
- EKF
- Position Estimation
- UAV
- UKF
ASJC Scopus subject areas
- Control and Systems Engineering