TY - GEN
T1 - Adaptive Kalman filter with multiple fading factors for UAV state estimation
AU - Hajiyev, Chingiz
AU - Söken, Halil Ersin
PY - 2009
Y1 - 2009
N2 - In general case, as an algorithm for estimating the parameters of a linear system, Kalman filter can be utilized without any problem. However, when there is a malfunction in the estimation system, the filter fails and the outputs become inaccurate. In this paper, an Adaptive Kalman Filter with multiple fading factors based gain correction for the case of malfunctions in the estimation system is presented. By the use of an adaptive matrix constituted of multiple fading factors, faulty measurements are taken into consideration with small weight and the estimation errors are corrected without affecting the good estimation characteristic of the remaining process. Adaptive Kalman Filter algorithm is tested by simulations for the implementation in the navigation system of an UAV platform. The filter performance has been evaluated for different kinds of measurement malfunctions.
AB - In general case, as an algorithm for estimating the parameters of a linear system, Kalman filter can be utilized without any problem. However, when there is a malfunction in the estimation system, the filter fails and the outputs become inaccurate. In this paper, an Adaptive Kalman Filter with multiple fading factors based gain correction for the case of malfunctions in the estimation system is presented. By the use of an adaptive matrix constituted of multiple fading factors, faulty measurements are taken into consideration with small weight and the estimation errors are corrected without affecting the good estimation characteristic of the remaining process. Adaptive Kalman Filter algorithm is tested by simulations for the implementation in the navigation system of an UAV platform. The filter performance has been evaluated for different kinds of measurement malfunctions.
KW - Adaptive algorithms
KW - Estimation parameters
KW - Kalman filters
UR - http://www.scopus.com/inward/record.url?scp=79960912119&partnerID=8YFLogxK
U2 - 10.3182/20090630-4-ES-2003.0220
DO - 10.3182/20090630-4-ES-2003.0220
M3 - Conference contribution
AN - SCOPUS:79960912119
SN - 9783902661463
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 77
EP - 82
BT - SAFEPROCESS'09 - 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, Proceedings
T2 - 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09
Y2 - 30 June 2009 through 3 July 2009
ER -