Academic Journal
A FIR filter assisted with the predictive model and ELM integrated for UWB-based quadrotor aircraft localization
| العنوان: | A FIR filter assisted with the predictive model and ELM integrated for UWB-based quadrotor aircraft localization |
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| المؤلفون: | Yuan Xu, Dong Wan, Shuhui Bi, Hang Guo, Yuan Zhuang |
| المصدر: | Satellite Navigation, Vol 4, Iss 1, Pp 1-12 (2023) |
| بيانات النشر: | SpringerOpen, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Technology (General) |
| مصطلحات موضوعية: | Ultra-Wide Band (UWB), Quadrotor aircraft localization, FIR filter, ELM, Technology (General), T1-995 |
| الوصف: | Abstract To improve the accuracy of the Ultra-Wide Band (UWB) based quadrotor aircraft localization, a Finite Impulse Response (FIR) filter aided with an integration of the predictive model and Extreme Learning Machine (ELM) is proposed in this work. The FIR filter estimates the quad-rotor aircraft ’s position by fusing the positions measured with the UWB and Inertial Navigation System respectively. When the UWB dada are unavailable, both the ELM and the predictive model are used to provide the measurements, replacing those unavailable UWB data, for the FIR filter. The ELM estimates the measurement via the mapping between the one step prediction of state vector and the measurement built when the UWB data are available. For the predictive model, we mathematically describe the missing UWB data. Then, both the measurements estimated with the ELM and predictive model are employed to estimate the observations via Mahalanobis distance. The test results show that the FIR filter aided by the predictive model/ELM integrated can reduce the Cumulative Distribution Function and position Root Mean Square Error effectively when the UWB is unavailable. Compared with the ELM assisted FIR filter, the proposed FIR filter can reduce the localization error by about 48.59 %, meanwhile, the integrated method is close to the method with a better solution. Graphical Abstract |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2662-9291 2662-1363 |
| Relation: | https://doaj.org/toc/2662-9291; https://doaj.org/toc/2662-1363 |
| DOI: | 10.1186/s43020-022-00091-1 |
| URL الوصول: | https://doaj.org/article/d2553720ee7e46e7a8a11e09eaac92a5 |
| رقم الانضمام: | edsdoj.2553720ee7e46e7a8a11e09eaac92a5 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 26629291 26621363 |
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| DOI: | 10.1186/s43020-022-00091-1 |