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Pose estimation is one of the most important part of guidance systems in unmanned vehicles. In this paper, we consider the problem of pose estimation of unmanned ground vehicle (UGV) equipped with a global positioning system (GPS), an odometer and an electronic compass. The unscented Kalman filter (UKF) is used to fuse the information from those sensors. To improve the accuracy and robustness, we...
This paper presents an integrated vision-based navigation system for small autonomous aircraft. Previously developed sensor fusion algorithms based on the unscented Kalman filter (UKF) are combined with an adaptive receding horizon controller (ARHC) for guidance. Control and planning horizons are computed based on the sensor range and the effective speed of the UAV, which is computed as a weighted...
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