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This paper provides experimental results for dead reckoning of a fixed-wing UAV using a non-linear observer (NLO) and a more recent tool called eXogenous Kalman Filter (XKF), which uses the NLO itself as a first-stage filter. The sensors used are an IMU (accelerometers, inclinometers, and rate gyros), a camera, and an altimeter; the observed states are position, velocity, and attitude. A machine vision...
This paper introduces a non-linear observer for dead reckoning of a fixed-wing UAV. The sensors used are an Inertial Measurement Unit (IMU), a camera, an altimeter, a magnetometer, and an inclinometer. A machine vision system calculates the optical flow (OF), which is used to provide the body-fixed velocity of the UAV. The observer is able to estimate attitude, gyro bias, vertical position, linear...
This paper provides experimental validation of a uniformly semi-globally exponentially stable (USGES) non-linear observer for estimation of attitude, gyro bias, position, velocity and acceleration of a fixed-wing Unmanned Aerial Vehicle (UAV). The available sensors are an Inertial Measurement Unit (IMU), a Global Positioning System (GPS) receiver, a video camera, and an inclinometer. The UAV is flown...
In this paper a nonlinear observer for estimation of position, velocity, acceleration, attitude and gyro bias of an Unmanned Aerial Vehicle (UAV) is proposed. The sensor suite consists of an Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS) receiver, a video camera, an altimeter, and an inclinometer. The camera and machine vision systems can track features from the environment...
An underwater acoustic network (UAN) represents a communication infrastructure that can offer the necessary flexibility for continuous monitoring and surveillance of critical infrastructures located by the sea. Given the current limitation of acoustic-based communication methods, a robust implementation of UANs is still an open research field. The FP7 UAN project moved along these lines, and it was...
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