Abstract
Unmanned aerial vehicles (UAVs) are increasingly used in military and scientific research. Some miniaturized UAVs rely entirely on the global positioning system (GPS) for navigation. GPS is vulnerable to accidental or deliberate interference that can cause it to fail. It is not unusual, even in a benign environment, for a GPS outage to occur for periods of seconds to minutes. For UAVs relying solely on GPS for navigation such an event can be catastrophic. This article proposes an extended Kalman filter approach to estimate the location of a UAV when its GPS connection is lost, using inter-UAV distance measurements Increasing the accuracy of coordinate’s determination is one of the most crucial tasks of the modern UAV navigation. This task can be solved by using different variants of integration of navigation systems. One of the modern variants of integration is the combination of GPS/GLONASS-navigation with the extended Kalman filter, which estimates the accuracy recursively with the help of incomplete and noisy measurements. Currently different variations of extended Kalman filter exist and are under development, which include various number of variable states [1]. This article will show the utilization efficiency of extended Kalman filter in modern developments.
Highlights
The integration of observation channels in control systems of objects subjected to perturbations and measurement errors of the motion is based on on the observations control theory started in the early 1960s
A typical example: navigation through satellite channels such as global positioning system (GPS), which is quite reliable in simple flight conditions, but in a complex terrain, it is necessary to use methods to determine your position with the help of other systems based, for example, on landmarks observed either with optoelectronic cameras, or radar
The use of the Kalman filter model, similar to what we have shown, can be seen in [3], where it is used to improve the characteristics of the complex system (GPS + computer vision model for comparison with the geographic base), and the satellite navigation equipment failure situation is simulated
Summary
Unmanned aerial vehicles (UAVs) are increasingly used in military and scientific research. GPS is vulnerable to accidental or deliberate interference that can cause it to fail. It is not unusual, even in a benign environment, for a GPS outage to occur for periods of seconds to minutes. This article proposes an extended Kalman filter approach to estimate the location of a UAV when its GPS connection is lost, using inter-UAV distance measurements Increasing the accuracy of coordinate’s determination is one of the most crucial tasks of the modern UAV navigation. This task can be solved by using different variants of integration of navigation systems.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
