A Scalar Adaptive Filter Considering Acceleration for Navigation of UAV

무인기의 항법을 위한 가속도를 고려한 적응 스칼라 필터

  • 임준규 (서울대학교 기계항공공학부/항공우주신기술 연구소) ;
  • 박찬국 (서울대학교 기계항공공학부/항공우주신기술 연구소)
  • Published : 2009.01.01


This paper presents a novel scalar adaptive filter, which is reformulated by additional acceleration term. The filter continuously estimates three different kinds of covariance such as the measurement noise covariance, the velocity error covariance and the acceleration error covariance. For estimating three covariances, we use the innovation method for the measurement noise covariance and the least square method for other covariances. In order to verify the proposed filter performance compared with the conventional scalar adaptive filter, we make indoor experimental environment similar to outdoor test using the ultrasonic sensors instead of GPS. Experimental results show that the proposed filter has better position accuracy than the traditional scalar adaptive filter.


  1. R. Hyde, "Fostering Innovation in Design and Reducing ImplementationCosts by Using Graphical Tools for Functional Specification," AIAA Modeling and Simulation Technologies Conference and Exhibit 5-8, Aug. 2002
  2. P.Tosic,GAgha,"Understanding and ModelingAgentAutonomyinDynamicMulti Agent, Multi-Task Environments,"Proc. First European Workshop on Multi- Agent System (EUMAS '03), Oxford,UK, Dec. 18-19,2003
  3. C. Sabol, R. Bums, and C. Mclaughlin, "Satellite FonnationFlying Design and Evolution," Journal of Spacecraft and Rockets, vol. 38, no 2, pp. 270-278, March-April 2001
  4. E. Kaplan, Understanding GPS principles and application, ARTECH HOUSE, INC., 1996
  5. G. Siouris, Aerospace Avionics Systems, Academic Press, 1993
  6. O. Salychev, Inertial Systems in Navigation and Geophysics,Bauman MSTU press Moscow, 1998
  7. R. Metra, "Approaches to adaptive filtering," IEEE Trans. on Automatic Control, pp. 693-698, October 1972
  8. 임준규, 박찬국, 이달후 "정렬비행을 위한 적응 스칼라펼터의 성능 분석" 한국항공우주학회지, 제36권 제5호,pp. 455461, May 2008