NDLI: Design of an Extended Kalman Filter for UAV Localization

Content Provider	IEEE Xplore Digital Library
Author	Guoqiang Mao Drake, S. Anderson, B.D.O.
Copyright Year	2007
Description	Author affiliation: Sydney Univ., Sydney (Guoqiang Mao)
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 paper proposes an extended Kalman filter approach to estimate the location of a UAV when its GPS connection is lost, using inter-UAV distance measurements. The results from a recent trial conducted by DSTO in Australia with three UAVs are presented. It is shown that the location of a manoeuvering UAV that has lost the GPS signal can be determined to an accuracy of within 40m of its true location simply by measuring the range to two other UAVs at known location, where the range measurement error has a zero mean and a standard deviation of 10m.
Starting Page	224
Ending Page	229
File Size	459836
Page Count	6
File Format	PDF
ISBN	1424409012
DOI	10.1109/IDC.2007.374554
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-02-12
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Unmanned aerial vehicles Global Positioning System Australia Navigation Interference Distance measurement Control design Design engineering Automotive engineering Loss measurement
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

An unmanned air vehicle (UAV) GPS location and navigation system

GPS/SINS/BARO Integrated Navigation System for UAV

SINS and GPS Integrated Navigation System of a Small Unmanned Aerial Vehicle

Pose estimation of unmanned ground vehicle based on dead-reckoning/GPS sensor fusion by unscented Kalman filter

Combined visual and inertial navigation for an unmanned aerial vehicle.

GPS aided Extended Kalman Filter based localization for unmanned vehicles

Attitude estimation for small helicopter using extended kalman filter

Multi-UAV Cooperative Positioning Based on Delaunay Triangulation

A Study of Information Fusion Based on Federated Kalman Filtering

Design of an Extended Kalman Filter for UAV Localization

Similar Documents

An unmanned air vehicle (UAV) GPS location and navigation system

GPS/SINS/BARO Integrated Navigation System for UAV

SINS and GPS Integrated Navigation System of a Small Unmanned Aerial Vehicle

Pose estimation of unmanned ground vehicle based on dead-reckoning/GPS sensor fusion by unscented Kalman filter

Combined visual and inertial navigation for an unmanned aerial vehicle.

GPS aided Extended Kalman Filter based localization for unmanned vehicles

Attitude estimation for small helicopter using extended kalman filter

Multi-UAV Cooperative Positioning Based on Delaunay Triangulation

A Study of Information Fusion Based on Federated Kalman Filtering

Design of an Extended Kalman Filter for UAV Localization