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Real evaluation for designing sensor fusion in UAV platforms

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dc.affiliation.dptoUC3M. Departamento de Informáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Inteligencia Artificial Aplicada (GIAA)es
dc.contributor.authorGarcía Herrero, Jesús
dc.contributor.authorMolina López, José Manuel
dc.contributor.authorTrincado Castán, Jorge
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2021-01-11T15:15:36Z
dc.date.available2022-11-01T00:00:07Z
dc.date.issued2020-06-18
dc.description.abstractEvaluation of UAV systems is mostly based on simulation tools that are manually configured to define the trajectory (ground truth trajectory) for comparing with the system output. In this work, the authors present an original method to evaluate the performance of UAV platform in real situations without considering simulations. The proposed evaluation methodology allows calculating the system accuracy and robustness with a considerable number of samples, accumulating the performance of different missions in the same conditions. The main innovation is an alternative evaluation for designing sensor fusion parameters using real performance indicators of navigation accuracy in UAVs based on a commercially available flight controller and peripherals. This methodology and selected performance indicators allow to select the best parameters for the fusion system of a determined configuration of sensors and a predefined real mission not requiring ground truth. The selected platform is described highlighting the available sensors and data processing software, and the experimental methodology is proposed to characterize the sensor data fusion output. The results show in detail the presented performance metrics for a set of trajectories in order to determine the best choice of parameters using quality measurements of navigation output.en
dc.description.sponsorshipThis work was funded by public research projects of Spanish Ministry of Economy and Competitivity (MINECO), references TEC2017–88048-C2–2-R, RTC-2016-5595-2, RTC2016-5191-8 and RTC-2016-5059-8.en
dc.identifier.bibliographicCitationGarcía, J., Molina, J.M., Trincado, J. (2020). Real Evaluation for Designing Sensor Fusion in UAV Platforms. Information Fusion, 63, pp. 136-152es
dc.identifier.doihttps://doi.org/10.1016/j.inffus.2020.06.003
dc.identifier.issn1566-2535
dc.identifier.publicationfirstpage136
dc.identifier.publicationlastpage152
dc.identifier.publicationtitleInformation Fusionen
dc.identifier.publicationvolume63
dc.identifier.urihttps://hdl.handle.net/10016/31669
dc.identifier.uxxiAR/0000026313
dc.language.isoenges
dc.publisherElsevieres
dc.relation.projectIDGobierno de España. RTC-2016-5191-8es
dc.relation.projectIDGobierno de España. RTC-2016-5595-2es
dc.relation.projectIDGobierno de España. RTC-2016-5059-8es
dc.relation.projectIDGobierno de España. TEC2017-88048-C2-2-Res
dc.rights© 2020 Elsevier B.V. All rights reserved.es
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accesses
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaInformáticaes
dc.subject.otherEkfen
dc.subject.otherUavs sensor fusionen
dc.subject.otherReal data analysisen
dc.subject.otherSystem designen
dc.titleReal evaluation for designing sensor fusion in UAV platformsen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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