Measurement Signal Enhancement

  • Guowei Cai
  • Ben M. Chen
  • Tong Heng Lee
Part of the Advances in Industrial Control book series (AIC)


Chapter 5 aims to introduce an integration of a low-cost inertial attitude and position reference system for mini UAV helicopters by utilizing the well-known extended EKF technique. More specifically, we propose a systematic signal enhancement procedure for measurement sensors adopted in miniature unmanned aerial systems. The procedure yields more accurate measurement of the Euler angles, angular rates, positions, and velocities of the UAV with a self-integrated navigation unit.


Unmanned Aerial Vehicle Euler Angle Extended Kalman Filter Inertial Navigation System Error Covariance Matrix 
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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  1. 1.Temasek LaboratoriesNational University of SingaporeSingaporeSingapore
  2. 2.Dept. Electrical & Computer EngineeringNational University of SingaporeSingaporeSingapore

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