Adaptive Noise Identification in Vision-assisted Motion Estimation for Unmanned Aerial Vehicles
文献类型：期刊论文
| 作者 | Zhou Fan1; Zheng Wei1; Wangl Zengfu2 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2015 |
| 卷号 | 12 |
| 关键词 | Adaptive noise variance identification vision location motion estimation Kalman filter unmanned aerial vehicle |
| ISSN号 | 1476-8186 |
| 其他题名 | Adaptive Noise Identification in Vision-assisted Motion Estimation for Unmanned Aerial Vehicles |
| 英文摘要 | Vision localization methods have been widely used in the motion estimation of unmanned aerial vehicles (UAVs). The noise of the vision location result is usually modeled as a white Gaussian noise so that this location result could be utilized as the observation vector in the Kalman filter to estimate the motion of the vehicle. Since the noise of the vision location result is affected by external environment, the variance of the noise is uncertain. However, in previous researches, the variance is usually set as a fixed empirical value, which will lower the accuracy of the motion estimation. The main contribution of this paper is that we proposed a novel adaptive noise variance identification (ANVI) method, which utilizes the special kinematic properties of the UAV for frequency analysis and then adaptively identifies the variance of the noise. The adaptively identified variance is used in the Kalman filter for more accurate motion estimation. The performance of the proposed method is assessed by simulations and field experiments on a quadrotor system. The results illustrate the effectiveness of the method. |
| 语种 | 英语 |
| CSCD记录号 | CSCD:5476294 |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/101698]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 作者单位 | 1.Department of Automation, University of Science and Technology of China 2.Department of Automation, University of Science and Technology of China 3.Institute of Intelligent Machines, Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Zhou Fan,Zheng Wei,Wangl Zengfu. Adaptive Noise Identification in Vision-assisted Motion Estimation for Unmanned Aerial Vehicles[J]. International Journal of Automation and Computing,2015,12. |
| APA | Zhou Fan,Zheng Wei,&Wangl Zengfu.(2015).Adaptive Noise Identification in Vision-assisted Motion Estimation for Unmanned Aerial Vehicles.International Journal of Automation and Computing,12. |
| MLA | Zhou Fan,et al."Adaptive Noise Identification in Vision-assisted Motion Estimation for Unmanned Aerial Vehicles".International Journal of Automation and Computing 12(2015). |
入库方式： OAI收割
来源：合肥物质科学研究院
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