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Position estimation for autonomous flight of unmanned helicopter based on low-cost dual GPS

A novel technique to estimate the position of an unmanned helicopter using dual GPS units is presented in this paper. Our approach is to use recursive least square (RLS) method to estimate the noise characteristics with AR(2) model, and adopt Kalman filter to estimate the helicopter position under AR(2) noise model. The uniqueness of our attempt lies in using inexpensive commercial GPS units. Simulation results of the estimation system show its effect.