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Model-based filters for 3-D positioning of marine mammals using AHRS- and GPS-equipped UAVs
Tiago Gaspar1,2; Paulo Oliveira3; Carlos Silvestre4
2015-10-01
Source PublicationIEEE Transactions on Aerospace and Electronic Systems
ISSN0018-9251
Volume51Issue:4Pages:3307-3320
Abstract

This work tackles the problem of estimating the position of a marine mammal moving at the ocean surface by using an unmanned aerial vehicle equipped with a camera, a GPS receiver, and an attitude and heading reference system. Two Kalman filters - inserted on a multiple-model adaptive estimation framework - which use an unstable model for the target depending on an unknown parameter that must be identified (its angular speed) are proposed and compared with an extended Kalman filter.

DOI10.1109/TAES.2015.140748
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaEngineering ; Telecommunications
WOS SubjectEngineering, Aerospace ; Engineering, Electrical & Electronic ; Telecommunications
WOS IDWOS:000369006000060
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
Fulltext Access
Citation statistics
Cited Times [WOS]:7   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorTiago Gaspar; Paulo Oliveira; Carlos Silvestre
Affiliation1.Institute for Systems and Robotics, Laboratory of Robotics and Engineering Systems, Av. Rovisco Pais, 1, Lisboa, 1049-001, Portugal
2.Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais, 1, Lisboa, 1049-001, Portugal
3.LAETA, Department of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Av. Robisco Pais, 1, Lisboa, 1049-001, Portugal
4.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, E11, Avenida da Universidade, Taipa, Macao
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Tiago Gaspar,Paulo Oliveira,Carlos Silvestre. Model-based filters for 3-D positioning of marine mammals using AHRS- and GPS-equipped UAVs[J]. IEEE Transactions on Aerospace and Electronic Systems,2015,51(4):3307-3320.
APA Tiago Gaspar,Paulo Oliveira,&Carlos Silvestre.(2015).Model-based filters for 3-D positioning of marine mammals using AHRS- and GPS-equipped UAVs.IEEE Transactions on Aerospace and Electronic Systems,51(4),3307-3320.
MLA Tiago Gaspar,et al."Model-based filters for 3-D positioning of marine mammals using AHRS- and GPS-equipped UAVs".IEEE Transactions on Aerospace and Electronic Systems 51.4(2015):3307-3320.
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