The state estimation of UAV based on UKF
Xu Wanli, Bao Shuo, Zhun Liu · 2014 IEEE Workshop on Advanced Research and Technology in Industry Applications (WARTIA) · 2014
In order to achieve the UAV's precise positioning of the radiation target, firstly is to do the state estimation itself. The BDS/INS Integrated Navigation system is a high-precision real-time navigation scheme which has been widely used, it is not only able to pinpoint the UAV, but also can provide the UAV's navigation information such as speed, acceleration and attitude angle etc. so it can meet the scout equipment's work demands on UAV. This article make the Unscented Karman Filter (UKF) algorithm apply to BDS/INS Integrated Navigation system, built the UAV state estimation system and compared with experimental EKF scheme. The experimental result shows that the BDS/INS Integrated Navigation System using UKF for UAV can conduct a comprehensive and highly accurate state estimation.