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.


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    Title :

    Model-Based Filters for 3-D positioning of marine mammals using AHRS- and GPS-equipped UAVs


    Contributors:


    Publication date :

    2015-10-01


    Size :

    1512335 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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