무인기의 항법을 위한 가속도를 고려한 적응 스칼라 필터

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.