A UKF-NN Framework for System Identification of Small Unmanned Aerial Vehicles

@article{Kallapur2008AUF,
  title={A UKF-NN Framework for System Identification of Small Unmanned Aerial Vehicles},
  author={Abhijit G. Kallapur and Mahendra Kumar Samal and V. Puttige and Sreenatha G. Anavatti and Matthew A. Garratt},
  journal={2008 11th International IEEE Conference on Intelligent Transportation Systems},
  year={2008},
  pages={1021-1026}
}
This paper presents a novel system identification framework for small unmanned aerial vehicles (UAVs) by combining an unscented Kalman filter (UKF) estimator with a neural network (NN) identifier. The method is effective for systems with low-cost, erroneous sensors where the sensor outputs cannot be used directly for system identification and control. The UKF state estimator computes error-compensated attitude and velocities by integrating sensor data from an inertial measurement unit (IMU) and… CONTINUE READING