Distributed Extended Kalman Filtering Based Techniques for 3-D UAV Jamming Localization

Design of a Extended Kalman Filter for UAV Localization

Unmanned aerial vehicles (UAVs) are increasingly used in military and scientific research. Some miniaturized UAVs rely entirely on the global positioning system (GPS) for navigation. GPS is vulnerable to accidental or deliberate interference that can cause it to fail. It is not unusual, even in a benign environment, for a GPS outage to occur for periods of seconds to minutes. For UAVs relying s...

Distributed Adaptive High-Gain Extended Kalman Filtering for Nonlinear systems

In this work, we propose a distributed adaptive high-gain extended Kalman filtering approach for nonlinear systems. Specifically, we consider a class of nonlinear systems that are composed of several subsystems interacting with each other via their states. In the proposed approach, an adaptive high-gain extended Kalman filter is designed for each subsystem. The distributed Kalman filters commun...

Approximate Distributed Kalman Filtering for Cooperative Multi-agent Localization

We consider the problem of estimating the locations of mobile agents by fusing the measurements of displacements of the agents as well as relative position measurements between pairs of agents. We propose an algorithm that computes an approximation of the centralized optimal (Kalman filter) estimates. The algorithm is distributed in the sense each agent can estimate its own position by communic...

Extended Kalman Filtering by

Synchronization through Extended Kalman Filtering

We study the synchronization problem in discrete-time via an extended Kalman filter (EKF). That is, synchronization is obtained of transmitter and receiver dynamics in case the receiver is given via an extended Kalman filter that is driven by a noisy drive signal from the transmitter. Extensive computer simulations show that the filter is indeed suitable for synchronization of (noisy) chaotic t...