Cargando…
UAV Control on the Basis of 3D Landmark Bearing-Only Observations
The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter ba...
Autores principales: | , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2015
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4721689/ https://www.ncbi.nlm.nih.gov/pubmed/26633394 http://dx.doi.org/10.3390/s151229768 |
_version_ | 1782411258998292480 |
---|---|
author | Karpenko, Simon Konovalenko, Ivan Miller, Alexander Miller, Boris Nikolaev, Dmitry |
author_facet | Karpenko, Simon Konovalenko, Ivan Miller, Alexander Miller, Boris Nikolaev, Dmitry |
author_sort | Karpenko, Simon |
collection | PubMed |
description | The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations. |
format | Online Article Text |
id | pubmed-4721689 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2015 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-47216892016-01-26 UAV Control on the Basis of 3D Landmark Bearing-Only Observations Karpenko, Simon Konovalenko, Ivan Miller, Alexander Miller, Boris Nikolaev, Dmitry Sensors (Basel) Article The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations. MDPI 2015-11-27 /pmc/articles/PMC4721689/ /pubmed/26633394 http://dx.doi.org/10.3390/s151229768 Text en © 2015 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons by Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Karpenko, Simon Konovalenko, Ivan Miller, Alexander Miller, Boris Nikolaev, Dmitry UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
title | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
title_full | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
title_fullStr | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
title_full_unstemmed | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
title_short | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
title_sort | uav control on the basis of 3d landmark bearing-only observations |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4721689/ https://www.ncbi.nlm.nih.gov/pubmed/26633394 http://dx.doi.org/10.3390/s151229768 |
work_keys_str_mv | AT karpenkosimon uavcontrolonthebasisof3dlandmarkbearingonlyobservations AT konovalenkoivan uavcontrolonthebasisof3dlandmarkbearingonlyobservations AT milleralexander uavcontrolonthebasisof3dlandmarkbearingonlyobservations AT millerboris uavcontrolonthebasisof3dlandmarkbearingonlyobservations AT nikolaevdmitry uavcontrolonthebasisof3dlandmarkbearingonlyobservations |