D.B. Volgushev – Engineer,

LTD «STC» (St. Petersburg)

E-mail: d.volgushev@yandex.ru

M.N. Chesnokov – Dr.Sc. (Eng.), Professor, Deputy Head of Department,

LTD «STC» (St. Petersburg)

E-mail: chesnokovmn@yandex.ru

A.A. Soloviev – Engineer,

LTD «STC» (St. Petersburg)

E-mail: alanight@mail.ru

A Local Navigation System (LNS) is often used along with Satellite Navigation System in UAV usage. Positioning methods such as TOA (Time of Arrival) and TDOA (Time Difference of Arrival) are the most commonly used methods in LNS. There are many factors complicating positioning process: number of measuring stations, unknown velocity and acceleration of the UAV movement, presence of the measurement outliers. A nonlinear recurrent filter resistant to influence of the measurement outliers is synthesized and analyzed for UAV coordinates estimation.

A novel algorithm for nonlinear filtering of Markov processes in discrete time with non-Gaussian distributed observation vector is used for filter synthesis. This algorithm was presented in [7] of this issue. The simulation results showed that in the absence of measurement outliers proposed filter provides approximately the same positioning accuracy as the extended Kalman filter. In case of the presence of measurement outliers, this filter provides more reliable and accurate estimate of the UAV position. The proposed filter works with discrete observation samples and is suitable for implementation in digital hardware.

The obtained results is testify that the proposed filter synthesis approach is a promising method in the development of a local navigation system based on distance measurements method of positioning. The obtained results are easily generalized to more complex UAV motion models and noise models.

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2. Pi-Chun Chen A non-line-of-sight error mitigation algorithm in location estimation. WCNC. 1999 IEEE Wireless Communications and Networking Conference.
3. Mao G. Drake S., Anderson B. Design of an Extended Kalman Filter for UAV Localization. March 2007 Information, Decision and Control.
4. Rullan-Lara J. L., Salazar S., Lozano R. Real-time Localization of an UAV using Kalman Filter and a Wireless Sensor Network. January 2012 Journal of Intelligent and Robotic Systems.
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10. Rong Li X., Zhao Z. Measures of Performance for Evaluation of Estimators and Filters. Proceedings of SPIE Conference on Signal and Data Processing of Small Targets, San Diego, CA, USA. July-August 2001.