Using the Kalman filter in the quadrotor vehicle trajectory tracking system

Belokon, S. A.; Zolotukhin, Yu. N.; Kotov, K. Yu.; Maltsev, A. S.; Nesterov, A. A.; Pivkin, V. Ya.; Sobolev, M. A.; Филиппов, М. Н.; Yan, A. P.

doi:10.3103/s8756699013060022

Cited by 10 publications

(3 citation statements)

References 7 publications

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“…For the objective of real-time prediction, the predicted consecutive trajectory points for the Mavic 2 samples are recorded using the proposed D-GRU models and then compared with the actual location. The traditional particle filtering (PF) model was constructed for comparison as a benchmark method, which was commonly used for trajectory prediction in previous research [ 34 , 35 , 36 , 37 ]. The results were summarized in Figure 9 and Table 5 .…”

Section: Test and Resultsmentioning

confidence: 99%

A Real-Time Trajectory Prediction Method of Small-Scale Quadrotors Based on GPS Data and Neural Network

Yang

Tang

Bao

et al. 2020

Sensors

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This paper proposes a real-time trajectory prediction method for quadrotors based on a bidirectional gated recurrent unit model. Historical trajectory data of ten types of quadrotors were obtained. The bidirectional gated recurrent units were constructed and utilized to learn the historic data. The prediction results were compared with the traditional gated recurrent unit method to test its prediction performance. The efficiency of the proposed algorithm was investigated by comparing the training loss and training time. The results over the testing datasets showed that the proposed model produced better prediction results than the baseline models for all scenarios of the testing datasets. It was also found that the proposed model can converge to a stable state faster than the traditional gated recurrent unit model. Moreover, various types of training samples were applied and compared. With the same randomly selected test datasets, the performance of the prediction model can be improved by selecting the historical trajectory samples of the quadrotors close to the weight or volume of the target quadrotor for training. In addition, the performance of stable trajectory samples is significantly better than that with unstable trajectory segments with a frequent change of speed and direction with large angles.

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Section: Test and Resultsmentioning

confidence: 99%

A Real-Time Trajectory Prediction Method of Small-Scale Quadrotors Based on GPS Data and Neural Network

Yang

Tang

Bao

et al. 2020

Sensors

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“…The basic commands can be easily supplemented with new human gestures in relation to other UAV models. In the future, it is planned to improve the processing and recognition methods for depth images that are invariant to affine transformations [10] and perform experiments to test quadrocopter paths based on the proposed control method [11].…”

Section: Discussionmentioning

confidence: 99%

Gesture recognition in the problem of contactless control of an unmanned aerial vehicle

Nahapetyan

Khachumov

2015

Optoelectron.Instrument.Proc.

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The problem of contactless control of an unmanned aerial vehicle by human gestures is considered. A system of commands is proposed for an AR.Drone 2.0 quadcopter equipped with a builtin computer, two color video cameras, the Linux operating system, and sensors for measuring the flight height, speed, and stability. An Asus Xtion Pro Live three-dimensional sensor based on triangulation and structured light is used to enter data into the control system. Gesture recognition is performed by frame-by-frame processing of a video sequence consisting of depth images. The method does not require initial training, is insensitive to changes in lighting, and is invariant to the sizes of the human palm and body.

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“…В расширенном фильтре Калмана нелинейная система (8) линеаризуется посредством разложения в ряд Тейлора. Дальнейшая оценка вектора состояния X состоит из последовательных этапов экстраполяции и коррекции [10].…”

Section: уравнения движения и описание алгоритма управленияunclassified

Control of the Trajectory Movement of a Quadrocopter during Transportation of Cargo on a Suspension: Experiment

Dimova

Kotov

Maltsev

et al. 2019

JIT

Self Cite

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The problem of controlling the movement of a quadrocopter during transportation of cargo on a suspension is considered. This paper presents the results of an experimental verification of a previously developed nonlinear regulator for suppressing suspension vibrations relative to the vertical. The description of the created experimental stand for flight control of a small-sized quadrocopter in the room is given.

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Using the Kalman filter in the quadrotor vehicle trajectory tracking system

Cited by 10 publications

References 7 publications

A Real-Time Trajectory Prediction Method of Small-Scale Quadrotors Based on GPS Data and Neural Network

A Real-Time Trajectory Prediction Method of Small-Scale Quadrotors Based on GPS Data and Neural Network

Gesture recognition in the problem of contactless control of an unmanned aerial vehicle

Control of the Trajectory Movement of a Quadrocopter during Transportation of Cargo on a Suspension: Experiment

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