EKF with Artificial Bee Colony for Precise Positioning of UAV Using Global Positioning System

ABSTRACT

The growth of the Unmanned Aerial Vehicle (UAV) has become greater than before due to the presence of inexpensive sensors and improved computer technology. The state estimation of the UAV has faced challenges such as inaccurate estimation and delay created by the imperfect controllers in the Global Positioning System. So, in this paper, Extended Kalman Filter (EKF) with Modified Artificial Bee Colony (MABC) algorithm is proposed to estimate the state of UAV. The position of the vehicle is estimated by computing the Yaw angle (${\psi }^Y$), pitch angle (${\theta }^P$), and roll angle (${\varphi }^R$). Furthermore, the absolute deviation between the measured angles and the actual angle is estimated by computing the error (Root Mean Square Error, Mean Absolute Percentage Error, Mean Absolute Error, and L₁-Norm) and also analysis of the convergence of the proposed method. Thus the proposed EKF-MABC shows its superior performance in calculating all three angles, when compared with KF, EKF, EKF-artificial bee colony (ABC), EKF-ABC-Inversely Proportional Mutation, EKF-Quick artificial bee colony, EKF-ABC-Multi-Point, and EKF-Adaptive and Hybrid-ABC methods and accurately estimates the final position of the UAV system.

Keywords:

• ABC
• EKF
• Pitch angle
• Positioning UAV
• Roll angle
• State estimation
• Yaw angle

Additional information

Notes on contributors

Nenavath Ravi Kumar

Nenavath Ravikumar obtained his ME in communication systems from the Anna University in 2007. He is presently pursuing his PhD in the Department of ECE, Osmania university, Hyderabad, India. His area of interest includes navigation systems and satellite and inertial navigation. He is an Assistant Professor in ECE Department at Mahaveer Institute of Science and Engineering. He is a member of IETE (AM-198496).

E. Nagabhooshanam

E Nagabhooshanam received his PhD in signals and systems from the Jawaharlal Nehru Technological University, Hyderabad, India, in 2006. His areas of interest include navigation systems and signal and systems. Having more than 35 years of experience in teaching, research, and administration, he has published more than 20 papers in national/ international conferences/journals. Email: [email protected]