A First-Order Differential Data Processing Method for Accuracy Improvement of Complementary Filtering in Micro-UAV Attitude Estimation.

There are many algorithms that can be used to fuse sensor data. The complementary filtering algorithm has low computational complexity and good real-time performance characteristics. It is very suitable for attitude estimation of small unmanned aerial vehicles (micro-UAVs) equipped with low-cost inertial measurement units (IMUs). However, its low attitude estimation accuracy severely limits its applications. Though, many methods have been proposed by researchers to improve attitude estimation accuracy of complementary filtering algorithms, there are few studies that aim to improve it from the data processing aspect. In this paper, a real-time first-order differential data processing algorithm is proposed for gyroscope data, and an adaptive adjustment strategy is designed for the parameters in the algorithm. Besides, the differential-nonlinear complementary filtering (D-NCF) algorithm is proposed by combine the first-order differential data processing algorithm with the basic nonlinear complementary filtering (NCF) algorithm. The experimental results show that the first-order differential data processing algorithm can effectively correct the gyroscope data, and the Root Mean Square Error (RMSE) of attitude estimation of the D-NCF algorithm is smaller than when the NCF algorithm is used. The RMSE of the roll angle decreases from 1.1653 to 0.5093, that of the pitch angle decreases from 2.9638 to 1.5542, and that of the yaw angle decreases from 0.9398 to 0.6827. In general, the attitude estimation accuracy of D-NCF algorithm is higher than that of the NCF algorithm.

Blind identification of convolutional encoder parameters.

This paper gives a solution to the blind parameter identification of a convolutional encoder. The problem can be addressed in the context of the noncooperative communications or adaptive coding and modulations (ACM) for cognitive radio networks. We consider an intelligent communication receiver which can blindly recognize the coding parameters of the received data stream. The only knowledge is that the stream is encoded using binary convolutional codes, while the coding parameters are unknown. Some previous literatures have significant contributions for the recognition of convolutional encoder parameters in hard-decision situations. However, soft-decision systems are applied more and more as the improvement of signal processing techniques. In this paper we propose a method to utilize the soft information to improve the recognition performances in soft-decision communication systems. Besides, we propose a new recognition method based on correlation attack to meet low signal-to-noise ratio situations. Finally we give the simulation results to show the efficiency of the proposed methods.

Novel Blind Recognition Algorithm of Frame Synchronization Words Based on Soft-Decision in Digital Communication Systems.

A novel blind recognition algorithm of frame synchronization words is proposed to recognize the frame synchronization words parameters in digital communication systems. In this paper, a blind recognition method of frame synchronization words based on the hard-decision is deduced in detail. And the standards of parameter recognition are given. Comparing with the blind recognition based on the hard-decision, utilizing the soft-decision can improve the accuracy of blind recognition. Therefore, combining with the characteristics of Quadrature Phase Shift Keying (QPSK) signal, an improved blind recognition algorithm based on the soft-decision is proposed. Meanwhile, the improved algorithm can be extended to other signal modulation forms. Then, the complete blind recognition steps of the hard-decision algorithm and the soft-decision algorithm are given in detail. Finally, the simulation results show that both the hard-decision algorithm and the soft-decision algorithm can recognize the parameters of frame synchronization words blindly. What's more, the improved algorithm can enhance the accuracy of blind recognition obviously.