Sensor Noise Rejection

TL;DR

This paper addresses the challenge of sensor noise in UAV control systems by modeling noise stochastically and implementing a corrective external control, highlighting the need for new methodologies for unconventional sonar noise issues.

Contribution

Introduces a stochastic noise modeling approach and a corrective control method for UAVs affected by sensor noise, emphasizing the need for novel solutions.

Findings

Sonar noise impacts UAV performance unpredictably.

Stochastic modeling helps understand sensor noise effects.

External corrective control improves UAV robustness.

Abstract

An inaccessible control architecture caused an undesirable influence on a UAV. The encountered noise in the performance was modeled using stochastic methods and a corrective term was implemented on an external controller. Our findings suggest that the sonar noise problem is unconventional may warrant the development of a new methodology.