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|1. (WO2018028711) METHOD FOR ESTIMATING NOISE COVARIANCE OF UNMANNED AERIAL VEHICLE|
|Applicants:||GUIZHOU AREOX TECHNOLOGIES CO., LTD.
|Title:||METHOD FOR ESTIMATING NOISE COVARIANCE OF UNMANNED AERIAL VEHICLE|
A method for estimating a noise covariance of an unmanned aerial vehicle combines controlled variables and observation values by using an extended Kalman filter to linearize an unmanned aerial vehicle dynamic model to obtain a linearized state estimation equation. A coefficient matrix obtained from the linearized state estimation equation, a Kalman gain, and an innovation are substituted into an auto-covariance least squares algorithm to obtain a covariance matrix composed of an expected value of the innovation, and an estimated value of an auto-covariance matrix composed of the expected value of the innovation. Then, after employing a semidefinite programming algorithm, a process noise covariance and a measurement noise covariance are obtained. The method has high estimation accuracy for process noise covariance Q and measurement noise covariance R, and provides a numerical reference for operators. Thereby, it is more convenient and quicker for general operators to debug the process noise covariance Q and the measurement noise covariance R.