Estimation of UAV Position with Use of Smoothing Algorithms

• Main Authors: Kaniewski Piotr, Gil Rafał, Konatowski Stanisław
• Format: Article
• Language: English
• Published: Polish Academy of Sciences 2017-03-01
• Series: Metrology and Measurement Systems
• Subjects: Unmanned Aerial Vehicle; Inertial Navigation System; Global Navigation Satellite System; Integrated Navigation System; Synthetic Aperture Radar; Kalman Filter; Smoothing Algorithm
• Online Access: http://www.degruyter.com/view/j/mms.2017.24.issue-1/mms-2017-0013/mms-2017-0013.xml?format=INT

The paper presents methods of on-line and off-line estimation of UAV position on the basis of measurements from its integrated navigation system. The navigation system installed on board UAV contains an INS and a GNSS receiver. The UAV position, as well as its velocity and orientation are estimated with the use of smoothing algorithms. For off-line estimation, a fixed-interval smoothing algorithm has been applied. On-line estimation has been accomplished with the use of a fixed-lag smoothing algorithm. The paper includes chosen results of simulations demonstrating improvements of accuracy of UAV position estimation with the use of smoothing algorithms in comparison with the use of a Kalman filter.