Gaussian particle filtering block of navigation data

Authors

  • M. P. Mukhina National Aviation University
  • A. P. Prymak National Aviation University

DOI:

https://doi.org/10.18372/1990-5548.50.11394

Keywords:

BLOB method, filtering block, Google maps, Gaussian particle filtering

Abstract

A filtering block has been developed with the help of which navigation data, received fromUAV is filtered. UAV motion over some territory with camera on board has been held and images arecaptured from it. Images were processed by blob method and we got some linear references, filtered itand compared with Google maps. As a result is received probabilities of state equation, in particulartransient probabilities and its approximations according to the flight task, which allows to estimate UAVlocation, which showed that block is appropriate for use on UAV board and due to applying filtering,gives as correct results of location determining as possible

Author Biographies

M. P. Mukhina, National Aviation University

Doctor of Engineering Science. Associate Рrofessor. Institute of Information Diagnostic Systems

A. P. Prymak, National Aviation University

Post-graduate student

References

Jayesh H. Kotecha and Petar M. Djuric, Gaussian Particle Filtering, 2003. – Т.P. – pp. 2592–2601.

Sebastian Thrun, Dieter Fox, Wolfram Burgard, Probabilistic Robotics, 1999-2000, 477 p.

Francisco José Curado Mendes Teixeira, Terrain-Aided Navigation and Geophysical Navigation of Autonomous Underwater Vehicles, 2007, 131 p.

N.K. Filyashkin, V.A. Rogozhin, A.V. Skripets, T.I. Lukinova, Inertial-satellite navigation systems: Manual, 2007, 340 p. (in Ukrainian)

Niclas Bergman, Recursive Bayesian. Estimation Navigation and Tracking Applications, 1999, 205 p.

Downloads

Issue

Vol. 4 No. 50 (2016)

Section

TRANSPORT SYSTEMS

License

Authors who publish with this journal agree to the following terms:

Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.

Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.

Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).