Estimation of UAV Position with Use of Smoothing Algorithms

Abstract

The paper presents methods of on-line and off-line estimation of UAV position on the basis of measurements from its integrated navigation system. The navigation system installed on board UAV contains an INS and a GNSS receiver. The UAV position, as well as its velocity and orientation are estimated with the use of smoothing algorithms. For off-line estimation, a fixed-interval smoothing algorithm has been applied. On-line estimation has been accomplished with the use of a fixed-lag smoothing algorithm. The paper includes chosen results of simulations demonstrating improvements of accuracy of UAV position estimation with the use of smoothing algorithms in comparison with the use of a Kalman filter.

Keywords

• Unmanned Aerial Vehicle
• Inertial Navigation System
• Global Navigation Satellite System
• Integrated Navigation System
• Synthetic Aperture Radar
• Kalman Filter
• Smoothing Algorithm