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Unscented Kalman filter for position estimation of UAV by using image information

In this paper, the position estimation problem is solved by using unscented Kalman filter with observation uncertainty’s compensations. These observation uncertainties causing the estimation become inaccurate in position estimate problem. Visual observation is difficult for an unmanned aerial vehicl...

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Main Authors: Tang, Swee Ho, Kojima, Takaaki, Namerikawa, Toru, Yeong, Che Fai, Su, Eileen Lee Ming
Format: Conference or Workshop Item
Published: 2015
Subjects:
TK7885-7895 Computer engineer. Computer hardware
Online Access:http://eprints.utm.my/id/eprint/61326/
http://www.ieee-ras.org/component/rseventspro/event/573-sice-2015-54th-annual-conference-of-the-society-of-instrument-and-control-engineers-of-japan
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id my.utm.61326
record_format eprints
spelling my.utm.613262017-08-22T06:39:59Z http://eprints.utm.my/id/eprint/61326/ Unscented Kalman filter for position estimation of UAV by using image information Tang, Swee Ho Kojima, Takaaki Namerikawa, Toru Yeong, Che Fai Su, Eileen Lee Ming TK7885-7895 Computer engineer. Computer hardware In this paper, the position estimation problem is solved by using unscented Kalman filter with observation uncertainty’s compensations. These observation uncertainties causing the estimation become inaccurate in position estimate problem. Visual observation is difficult for an unmanned aerial vehicle equipped with only a monocular-vision camera and often results in observation error because of the detected blurred images. A method to weight the observations is proposed in order to improve the position estimation. Simulation is performed using MATLAB and Simulink to verify the proposed method. The simulation result shows that the proposed method can estimate the position accurately. 2015 Conference or Workshop Item PeerReviewed Tang, Swee Ho and Kojima, Takaaki and Namerikawa, Toru and Yeong, Che Fai and Su, Eileen Lee Ming (2015) Unscented Kalman filter for position estimation of UAV by using image information. In: 54th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 2015, 28-30 Jul, 2015, China. http://www.ieee-ras.org/component/rseventspro/event/573-sice-2015-54th-annual-conference-of-the-society-of-instrument-and-control-engineers-of-japan
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK7885-7895 Computer engineer. Computer hardware
spellingShingle TK7885-7895 Computer engineer. Computer hardware
Tang, Swee Ho
Kojima, Takaaki
Namerikawa, Toru
Yeong, Che Fai
Su, Eileen Lee Ming
Unscented Kalman filter for position estimation of UAV by using image information
description In this paper, the position estimation problem is solved by using unscented Kalman filter with observation uncertainty’s compensations. These observation uncertainties causing the estimation become inaccurate in position estimate problem. Visual observation is difficult for an unmanned aerial vehicle equipped with only a monocular-vision camera and often results in observation error because of the detected blurred images. A method to weight the observations is proposed in order to improve the position estimation. Simulation is performed using MATLAB and Simulink to verify the proposed method. The simulation result shows that the proposed method can estimate the position accurately.
format Conference or Workshop Item
author Tang, Swee Ho
Kojima, Takaaki
Namerikawa, Toru
Yeong, Che Fai
Su, Eileen Lee Ming
author_facet Tang, Swee Ho
Kojima, Takaaki
Namerikawa, Toru
Yeong, Che Fai
Su, Eileen Lee Ming
author_sort Tang, Swee Ho
title Unscented Kalman filter for position estimation of UAV by using image information
title_short Unscented Kalman filter for position estimation of UAV by using image information
title_full Unscented Kalman filter for position estimation of UAV by using image information
title_fullStr Unscented Kalman filter for position estimation of UAV by using image information
title_full_unstemmed Unscented Kalman filter for position estimation of UAV by using image information
title_sort unscented kalman filter for position estimation of uav by using image information
publishDate 2015
url http://eprints.utm.my/id/eprint/61326/
http://www.ieee-ras.org/component/rseventspro/event/573-sice-2015-54th-annual-conference-of-the-society-of-instrument-and-control-engineers-of-japan
_version_ 1643655138009677824
score 13.250246

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