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무인기의 항법을 위한 가속도를 고려한 적응 스칼라 필터
A Scalar Adaptive Filter Considering Acceleration for Navigation of UAV

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Authors
임준규; 박찬국
Issue Date
2009-01
Publisher
제어로봇시스템학회
Citation
Journal of Institute of Control, Robotics and Systems Vol. 15, No. 1, January 2009
Keywords
adaptive methodcycle slipGPSscalar filterultrasonic sensor
Abstract
This paper presents a novel scalar adaptive filter, which is reformulated by additional acceleration term. The filter
continuously estimates three different kinds of covariance such as the measurement noise covariance, the velocity error covariance
and the acceleration error covariance. For estimating three covariances, we use the innovation method for the measurement noise
covariance and the least square method for other covariances. In order to verify the proposed filter performance compared with the
conventional scalar adaptive filter, we make indoor experimental environrnent similar to outdoor test using the ultrasonic sensors
instead of GPS. Experimental results show that the proposed filter has better position accuracy than the traditional scalar adaptive
filter.
Language
Korean
URI
http://hdl.handle.net/10371/25963
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Journal Papers (저널논문_기계항공공학부)
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