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Design and Implementation of an Exogenous Kalman Filter for UAVs
KTH, School of Electrical Engineering and Computer Science (EECS).
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

State estimations for nonlinear systems are often done using the ExtendedKalman Filter (EKF), which has good performance in terms of minimum variancefor the estimation error. However, global stability is not guaranteed,and the filter has a risk of becoming unstable. A recent paper proposes theeXogenous Kalman Filter (XKF), which combines the stability properties of anonlinear observer and the performance of the Kalman filter. The combinationof the two observers leads to better stability while the accuracy of the estimationsis maintained. The topic of this thesis is the design and implementationof an XKF for the control system of a UAV. The filter was simulated, and theperformance was compared to the existing EKF. Once the algorithm for thefilter was constructed, it was implemented in a real avionics system for UAVsand tested using real sensors. It was shown through simulations that the XKFindeed provides better stability properties for the state estimations comparedto the EKF, without loss of accuracy.

Abstract [sv]

Skattningen av tillståndsvariabler för olinjära system görs ofta med det så kalladeExtended Kalman Filter (EKF), som har bra noggrannhet när det kommertill kovariansmatrisen för rekonstruktionsfelet. Problemet är att stabiliteten iskattningarna inte kan garanteras så att filtret riskerar att bli instabilt. En nyligenpublicerad artikel föreslår det så kallade eXogenous Kalman Filter (XKF),som kombinerar stabiliteten från en olinjär observatör med noggrannheten frånett Kalmanfilter. Kombinationen av de två observatörerna leder till bättre stabilitetutan att noggrannheten försämras. Det här examensarbetet går ut påatt utveckla och implementera ett XKF i ett styrsystem för drönare. Filtret harsimulerats och utvärderats i jämförelse med ett existerande EKF. När algoritmenför filtret var skapat så implementerades filtret i ett riktigt avioniksystemför drönare och testades med hjälp av riktiga sensorer. Det har visats genomsimuleringar att XKF har bättre stabilitetsegenskaper jämfört med EKF, utanförlust av noggrannhet.

Place, publisher, year, edition, pages
2018. , p. 71
Series
TRITA-EECS-EX ; 2018:123
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-232184OAI: oai:DiVA.org:kth-232184DiVA, id: diva2:1232900
External cooperation
Nystromer Avionics
Examiners
Available from: 2018-07-13 Created: 2018-07-13 Last updated: 2018-07-13Bibliographically approved

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