Robust nonlinear filtering for INS/GPS UAV localization

  title={Robust nonlinear filtering for INS/GPS UAV localization},
  author={Nassim Abdelkrim and Nabil Aouf and Antonios Tsourdos and B. A. White},
  journal={2008 16th Mediterranean Conference on Control and Automation},
Unmanned aerial vehicles (UAVs) are increasingly used in military and scientific research. UAVs rely on accurate location information for a variety of purposes including navigation, motion planning and control, and mission completion. UAV INS/GPS localization is generally used based on navigation filter. Extended Kalman filter is largely used to solve the problem of data fusion and localization, however, EKF suffers from the initialization problem and the linearization errors which severely… CONTINUE READING
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