4.7 Article

Reliable State Estimation of an Unmanned Aerial Vehicle Over a Distributed Wireless IoT Network

期刊

IEEE TRANSACTIONS ON RELIABILITY
卷 68, 期 3, 页码 1061-1069

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TR.2019.2891994

关键词

BCH Code; IoT; state estimation; UAV; wireless network

资金

  1. European Union's Horizon 2020 Research and Innovation Programme under the EDGE COFUND Marie Sklodowska Curie Grant [713567]
  2. National Natural Science Foundation of China [61750110527]
  3. Research Fund for International Young Scientists

向作者/读者索取更多资源

Unmanned aerial vehicles (UAVs) have attracted a lot of attention due to their enormous potentiality in civil and military applications over the past years. In order to allow accurate control action of UAV, a robust and real-time state estimation technique is required. In this paper, we propose a Kalman filter based UAV state estimation technique when the communication takes place over wireless links in an Internet of Things (IoT) network. We consider that a set of sensors observes the state of the UAV and transmits the observation to a control center (central server) over a distributed wireless IoT network. To deal with the communication impairments due to wireless communication links between the UAV's sensors and the IoT system components, e.g., IoT gateways, a Bose-Chaudhuri-Hocquenghem coded communication system is presented. Based on the received signals at the IoT gateways, a global state estimation technique is proposed. Performance of the proposed communication and estimation scheme is demonstrated through numerical results for different conditions. From the comparison with a conventional estimation scheme, it is observed that the proposed scheme significantly outperforms the conventional scheme in terms of state estimation and error performance.

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