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Reliable State Estimation of an Unmanned Aerial Vehicle Over a Distributed Wireless IoT Network.
- Source :
- IEEE Transactions on Reliability; Sep2019, Vol. 68 Issue 3, p1061-1069, 9p
- Publication Year :
- 2019
-
Abstract
- Unmanned aerial vehicles (UAVs) have attracted a lot of attention due to their enormous potentiality in civil and military applications over the past years. In order to allow accurate control action of UAV, a robust and real-time state estimation technique is required. In this paper, we propose a Kalman filter based UAV state estimation technique when the communication takes place over wireless links in an Internet of Things (IoT) network. We consider that a set of sensors observes the state of the UAV and transmits the observation to a control center (central server) over a distributed wireless IoT network. To deal with the communication impairments due to wireless communication links between the UAV's sensors and the IoT system components, e.g., IoT gateways, a Bose–Chaudhuri–Hocquenghem coded communication system is presented. Based on the received signals at the IoT gateways, a global state estimation technique is proposed. Performance of the proposed communication and estimation scheme is demonstrated through numerical results for different conditions. From the comparison with a conventional estimation scheme, it is observed that the proposed scheme significantly outperforms the conventional scheme in terms of state estimation and error performance. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189529
- Volume :
- 68
- Issue :
- 3
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Reliability
- Publication Type :
- Academic Journal
- Accession number :
- 138433562
- Full Text :
- https://doi.org/10.1109/TR.2019.2891994