کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5025131 1470578 2017 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Observability analysis and filter design for a vision inertial absolute navigation system for UAV using landmarks
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی (عمومی)
پیش نمایش صفحه اول مقاله
Observability analysis and filter design for a vision inertial absolute navigation system for UAV using landmarks
چکیده انگلیسی
This paper focuses mainly on the research of the vision inertial absolute navigation system (VIANS) for Unmanned Aerial Vehicle (UAV) using landmarks. Firstly, the model of the VIANS is established. Secondly, Extend Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are designed, respectively, to get the estimations of absolute position, absolute velocity and attitude of the UAV. And the nonlinear degree of the VIANS is analyzed to design a more suitable navigation filter for the VIANS. Thirdly, the observability matrix of the VIANS is derived based on the Differential Geometric theory, and the influence of the landmark distribution on the degree of observability of the VIANS is analyzed based on the condition number of the observability matrixes. Finally, simulations are carried out to validate the correctness of observability analysis and the effectiveness of the designed navigation filter.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Optik - International Journal for Light and Electron Optics - Volume 149, November 2017, Pages 455-468
نویسندگان
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