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Title: | Increasing fast estimation of assessment of navigation parameters for the UAV based on a linear Kalman filter |
Authors: | Isaev, M. A. Исаев, М. А. Linets, G. I. Линец, Г. И. Nikulin, V. I. Никулин, В. И. Melnikov, S. V. Мельников, С. В. Isaev, A. M. Исаев, А. М. |
Keywords: | Extended Kalman filter;Kalman filter;Navigation parameters;Optimization;UAV;Unscented Kalman filter |
Issue Date: | 2021 |
Publisher: | American Institute of Physics Inc. |
Citation: | Isaev, M.A., Linets, G.I., Nikulin, V.I., Melnikov, S.V., Isaev, A.M. Increasing fast estimation of assessment of navigation parameters for the UAV based on a linear Kalman filter // AIP Conference Proceedings. - 2021. - Volume 2318. - Номер статьи 130006 |
Series/Report no.: | AIP Conference Proceedings |
Abstract: | Navigation of the short-range unmanned aerial vehicles (UAV) requires the evaluation of parameters such as the velocity vector and position in real-time using an onboard computer. The use of the complex algorithms capable of working with nonlinear systems reduces the efficiency of calculations; therefore, the urgent task is to reduce the computational complexity of the existing algorithms while maintaining the required accuracy, which allows you to release CPU resources for solving other tasks that are needed for the U A V control system. The use of a flat Earth model for solving a navigation problem allows using the linear differential equations to describe movements in U A V space and using the linear Kalman filter as a basis for an algorithm for estimating navigation parameters. The rejection of iterative recalculation of the Kalman filter gain factors significantly reduces the number of arithmetic operations but at the same time retains the required accuracy of the estimation of navigation parameters, and the optimization of the multiplication of sparse zeros of the matrices further reduces the computational complexity. In this regard, the use of an algorithm for solving a navigation problem, which has a minimum number of arithmetic operations, increases the efficiency of processing data from the control system as a whole and allows for better controllability of the UAVs |
URI: | http://hdl.handle.net/20.500.12258/15439 |
Appears in Collections: | Статьи, проиндексированные в SCOPUS, WOS |
Files in This Item:
File | Description | Size | Format | |
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scopusresults 1593 .pdf Restricted Access | 64.71 kB | Adobe PDF | View/Open | |
WoS 1149 .pdf Restricted Access | 192.56 kB | Adobe PDF | View/Open |
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