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Unmanned Aerial Vehicle Tracking System With Out-Of-Sequence Measurement In A Discrete Time-Delayed Extended Kalman Filter, Roque Lora
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
The goal of this thesis is to extend the delayed Kalman filter so it can be used with non-linear systems and that it can handle randomized delays on the measurements. In the particular case of this study, the filter is used to estimates the states of an unmanned aerial system. The outputs of the filter are used to point an antenna and a camera towards a UAS. Different scenarios are simulated for the purpose of comparing the efficiency of this technique in various situations.