Real-time localization of an UAV using Kalman filter and a Wireless Sensor Network

被引：32

作者：

Rullan-Lara, Jose-Luis ^{[1
]}

Salazar, Sergio ^{[2
]}

Lozano, Rogelio ^{[1
,2
]}

机构：

[1] Univ Technol Compiegne, Lab Heudiasyc, CNRS, UMR 6599, F-60200 Compiegne, France

[2] CNRS CINVESTAV, Lab Francomexicain Informat & Automat, LAFMIA UMI 3175, Mexico City, DF, Mexico

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2012年 / 65卷 / 1-4期

关键词：

Time difference of arrival; Kalman filter; Localization; UAV; WSN; TRACKING; DIFFERENCE;

D O I：

10.1007/s10846-011-9599-8

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A real-time localization algorithm is presented in this paper. The algorithm presented here uses an Extended Kalman Filter and is based on time difference of arrivals (TDOA) measurements of radio signal. The position and velocity of an Unmanned Aerial Vehicle (UAV) are successfully estimated in closed-loop in real-time in both hover and path following flights. Relatively small position errors obtained from the experiments, proves a good performance of the proposed algorithm.

引用

页码：283 / 293

页数：11