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

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ695-700
ページ数6
ISBN(電子版)9784907764487
DOI
出版ステータスPublished - 2015 9月 30
イベント54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
継続期間: 2015 7月 282015 7月 30

出版物シリーズ

名前2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学

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