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.

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How to Cite

Mukhina, M. P., & Prymak, A. P. (2016). Gaussian particle filtering block of navigation data. Electronics and Control Systems, 4(50), 89–93. https://doi.org/10.18372/1990-5548.50.11394

Issue

Vol. 4 No. 50 (2016)

Section

TRANSPORT SYSTEMS

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