By Topic

LP-based accuracy improvement for UAVs

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Haspel, M. ; Ben Gurion Int. Airport, Israel

The problem of accuracy improvement in the context of an unmanned air vehicle (UAV) flying above a flat Earth with no terrain perturbations is considered. The six UAV degrees of freedom coordinates and two optical axis degrees of freedom angles are available periodically at some constrained sampling interval. Systematic and random errors accompanying these data corrupt computed results based upon them and the problem of improving their accuracy in the presence of concomitant random errors is the subject of this paper, where it is assumed that the systematic errors have been removed. A particular example is described, allowing no possibility of tracking, which is chosen for evaluation with the median of the probability density function of error taken as the measure of success. A typical UAV trajectory and dynamics including wind are taken along with representative values for the variances of the error distributions of mean zero, consistent with the assumption of no systematic errors, but having various degrees of asymmetry. We compare the proposed linear prediction (LP) algorithm using MLP samples with the use of the current sample set and with a simple average using MLP samples. It is shown that the LP method significantly improves the accuracy for the set of moderate parameters taken in the example over a wide range of asymmetry

Published in:

Electrical and Electronics Engineers in Israel, 1996., Nineteenth Convention of

Date of Conference:

5-6 Nov 1996