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Metrology and Measurement Systems

The Journal of Committee on Metrology and Scientific Instrumentation of Polish Academy of Sciences

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IMPACT FACTOR 2016: 1.598

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Volume 24, Issue 1


Estimation of UAV Position with Use of Smoothing Algorithms

Piotr Kaniewski
  • Corresponding author
  • Military University of Technology, Institute of Radioelectronics, Gen. S. Kaliski 2, 00-908 Warsaw, Poland
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  • Other articles by this author:
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/ Rafał Gil / Stanisław Konatowski
Published Online: 2017-03-20 | DOI: https://doi.org/10.1515/mms-2017-0013


The paper presents methods of on-line and off-line estimation of UAV position on the basis of measurements from its integrated navigation system. The navigation system installed on board UAV contains an INS and a GNSS receiver. The UAV position, as well as its velocity and orientation are estimated with the use of smoothing algorithms. For off-line estimation, a fixed-interval smoothing algorithm has been applied. On-line estimation has been accomplished with the use of a fixed-lag smoothing algorithm. The paper includes chosen results of simulations demonstrating improvements of accuracy of UAV position estimation with the use of smoothing algorithms in comparison with the use of a Kalman filter.

Keywords: Unmanned Aerial Vehicle; Inertial Navigation System; Global Navigation Satellite System; Integrated Navigation System; Synthetic Aperture Radar; Kalman Filter; Smoothing Algorithm


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About the article

Received: 2016-07-28

Accepted: 2016-10-09

Published Online: 2017-03-20

Published in Print: 2017-03-01

Citation Information: Metrology and Measurement Systems, Volume 24, Issue 1, Pages 127–142, ISSN (Online) 2300-1941, DOI: https://doi.org/10.1515/mms-2017-0013.

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© 2017 Polish Academy of Sciences. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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