Estimation of Unmanned Aerial Vehicle Dynamics in the Presence of Sensor/Actuator Faults
作者： Chingiz Hajiyev , Halil Ersin Soken , Sıtkı Yenal Vural , Chingiz Hajiyev , Halil Ersin Soken
DOI: 10.1007/978-3-319-16417-5_6
关键词:
摘要: The process noise covariance adaptation procedure (Q-adaptation) for unmanned aerial vehicle (UAV) state estimation is introduced and the robust adaptive Kalman filter (RAKF) algorithm with R- Q-adaptations against sensor/actuator failures proposed. Thus, proves to be faults and, even in case of failure, keeps providing accurate results. performance proposed RAKF investigated via simulations UAV. presented ensures that parameter system UAV not influenced by therefore, autonomous missions can performed successfully.
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