Skip to content
Home
About Us
Resources
Profiles Metrics
Authors Directory
Institutions Directory
Top Authors
Top Institutions
Top Sponsors
AI Digest
Contact Us
Menu
Home
About Us
Resources
Profiles Metrics
Authors Directory
Institutions Directory
Top Authors
Top Institutions
Top Sponsors
AI Digest
Contact Us
Home
About Us
Resources
Profiles Metrics
Authors Directory
Institutions Directory
Top Authors
Top Institutions
Top Sponsors
AI Digest
Contact Us
Menu
Home
About Us
Resources
Profiles Metrics
Authors Directory
Institutions Directory
Top Authors
Top Institutions
Top Sponsors
AI Digest
Contact Us
Publication Details
AFRICAN RESEARCH NEXUS
SHINING A SPOTLIGHT ON AFRICAN RESEARCH
engineering
Robust INS/GPS sensor fusion for UAV localization using SDRE nonlinear filtering
IEEE Sensors Journal, Volume 10, No. 4, Article 5427255, Year 2010
Notification
URL copied to clipboard!
Description
The aim of this paper is to present a new INS/GPS sensor fusion scheme, based on State-Dependent Riccati Equation (SDRE) nonlinear filtering, for Unmanned Aerial Vehicle (UAV) localization problem. SDRE navigation filter is proposed as an alternative to Extended Kalman Filter (EKF), which has been largely used in the literature. Based on optimal control theory, SDRE filter solves issues linked with EKF filter such as linearization errors, which severely decrease UAV localization performances. Stability proof of SDRE nonlinear filter is also presented and validated on a 3-D UAV flight scenario. Results obtained by SDRE navigation filter were compared to EKF navigation filter results. This comparison shows better UAV localization performance using SDRE filter. The suitability of the SDRE navigation filter over an unscented Kalman navigation filter for highly nonlinear UAV flights is also demonstrated. © 2010 IEEE.
Authors & Co-Authors
Nemra, Abdelkrim
Algeria, Bordj el Bahri
École Militaire Polytechnique
United Kingdom, Cranfield
Cranfield University
Aouf, Nabil
United Kingdom, Cranfield
Cranfield University
Statistics
Citations: 238
Authors: 2
Affiliations: 2
Identifiers
Doi:
10.1109/JSEN.2009.2034730
ISSN:
1530437X