@ARTICLE{Kaniewski_Piotr_Estimation_2017, author={Kaniewski, Piotr and Gil, Rafał and Konatowski, Stanisław}, volume={vol. 24}, number={No 1}, journal={Metrology and Measurement Systems}, pages={127-142}, howpublished={online}, year={2017}, publisher={Polish Academy of Sciences Committee on Metrology and Scientific Instrumentation}, abstract={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.}, type={Artykuły / Articles}, title={Estimation of UAV Position with Use of Smoothing Algorithms}, URL={http://journals.pan.pl/Content/107346/PDF/129.pdf}, doi={10.1515/mms-2017-0013}, keywords={unmanned aerial vehicle, Inertial Navigation System, Global Navigation Satellite System, Integrated Navigation System, Synthetic Aperture Radar, Kalman filter, Smoothing Algorithm}, }