Attitude and Position Estimation for an UAV Swarm using Consensus Kalman Filtering

被引：0

作者：

D'Amato, E. ^{[1
]}

Notaro, I. ^{[1
]}

Mattei, M. ^{[1
]}

Tartaglione, G. ^{[2
]}

机构：

[1] Univ Naples 2, Dept Ind & Informat Engn, I-81031 Aversa, CE, Italy

[2] Univ Naples Parthenope, Dept Engn, I-80143 Naples, Italy

来源：

2015 2ND IEEE INTERNATIONAL WORKSHOP ON METROLOGY FOR AEROSPACE (METROAEROSPACE) | 2015年

关键词：

Consensun Estimation; Kalman Filtering; Swarm; Unmanned Aerial Vehicles; Attitude and Position Estimation;

D O I：

暂无

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper presents the application of a distributed attitude and position estimation algorithm to a swarm of cooperating UAVs with heterogeneous sensors on board. The algorithm, based on a Consensus Extended Kalman Filtering (CEKF) to account for nonlinearities, is implemented assuming kinematic relationships. Numerical simulations are presented on different flight scenarios to evaluate the benefits of dealing with prior and novel information in a separate way on the basis of recent theoretical results on CEKF. Inertial and vision sensors are supposed to be mounted on board of the aircraft. Realistic flight scenarios are analyzed in the light of possible time communication delays among the agents.

引用

页码：519 / 524

页数：6

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