Model-Based Filters for 3-D Positioning of Marine Mammals Using AHRS- and GPS-Equipped UAVs

被引：10

作者：

Gaspar, Tiago ^{[1
]}

Oliveira, Paulo ^{[1
]}

Silvestre, Carlos ^{[1
]}

机构：

[1] Inst Syst & Robot, Lisbon, Portugal

来源：

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS | 2015年 / 51卷 / 04期

关键词：

TARGET LOCALIZATION; VISION; TRACKING; SPACE;

D O I：

10.1109/TAES.2015.140748

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This work tackles the problem of estimating the position of a marine mammal moving at the ocean surface by using an unmanned aerial vehicle equipped with a camera, a GPS receiver, and an attitude and heading reference system. Two Kalman filters-inserted on a multiple-model adaptive estimation framework-which use an unstable model for the target depending on an unknown parameter that must be identified (its angular speed) are proposed and compared with an extended Kalman filter.

引用

页码：3307 / 3320

页数：14

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