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Robust INS/GPS Sensor Fusion for UAV Localization Using SDRE Nonlinear Filtering

Nemra, A. and Aouf, N. ORCID: 0000-0001-9291-4077 (2010). Robust INS/GPS Sensor Fusion for UAV Localization Using SDRE Nonlinear Filtering. IEEE Sensors Journal, 10(4), pp. 789-798. doi: 10.1109/JSEN.2009.2034730

Abstract

The aim of this paper is to present a new INS/GPS sensor fusion scheme, based on state-dependent Riccati equation (SDRE) nonlinear filtering, for unmanned aerial vehicle (UAV) localization problem. SDRE navigation filter is proposed as an alternative to extended Kalman filter (EKF), which has been largely used in the literature. Based on optimal control theory, SDRE filter solves issues linked with EKF filter such as linearization errors, which severely decrease UAV localization performances. Stability proof of SDRE nonlinear filter is also presented and validated on a 3-D UAV flight scenario. Results obtained by SDRE navigation filter were compared to EKF navigation filter results. This comparison shows better UAV localization performance using SDRE filter. The suitability of the SDRE navigation filter over an unscented Kalman navigation filter for highly nonlinear UAV flights is also demonstrated.

Publication Type: Article
Additional Information: © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Publisher Keywords: UAV Localization, Sensor Data Fusion, SDRE Nonlinear Filter, SDRE Stability
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics
U Military Science
Departments: School of Mathematics, Computer Science & Engineering > Engineering > Electrical & Electronic Engineering
URI: http://openaccess.city.ac.uk/id/eprint/22086
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