Nonlinear Signal-Correction Observer and Application to UAV Navigation

Wang, Xinhua; Wang, Weicheng

Abstract

© 2018 IEEE. In this paper, a nonlinear signal-correction observer (NSCO) is presented for signals correction and estimation, which not only can reject the position measurement error, but also the unknown velocity can be estimated, in spite of the existence of large position measurement error and intense stochastic non-Gaussian noise. For this method, the position signal is not required to be bounded. The NSCO is developed for position/acceleration integration, and it is applied to an unmanned aerial vehicle (UAV) navigation: Based on the NSCO, the position and flying velocity of quadrotor UAV are estimated. An experiment is conducted to demonstrate the effectiveness of the proposed method.

Citation

Wang, X., & Wang, W. (2019). Nonlinear Signal-Correction Observer and Application to UAV Navigation. IEEE Transactions on Industrial Electronics, 66(6), 4600-4607. https://doi.org/10.1109/TIE.2018.2860540

• Journal Article Type: Article
• Acceptance Date: Jul 11, 2018
• Online Publication Date: Aug 1, 2018
• Publication Date: Jun 1, 2019
• Deposit Date: Aug 3, 2018
• Publicly Available Date: Aug 3, 2018
• Journal: IEEE Transactions on Industrial Electronics
• Print ISSN: 0278-0046
• Electronic ISSN: 1557-9948
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 66
• Issue: 6
• Pages: 4600-4607
• DOI: https://doi.org/10.1109/TIE.2018.2860540
• Keywords: Control and Systems Engineering; Electrical and Electronic Engineering
• Public URL: https://nottingham-repository.worktribe.com/output/927487
• Publisher URL: https://ieeexplore.ieee.org/document/8424203/