Cramér-Rao bound for Unmanned Aerial Vehicle (UAV)


Project overview

The Cramér-Rao bound provides a mean-square error lower bound for the discrete-time nonlinear filtering problem. In the case of UAVs (Unmanned Aerial Vehicles), it gives us a bound on the uncertainty of the vehicle's state, and thus on its position. In order to calculate this bound, we need to take into account all the sensors onboard: GPS, laser, stereo camera… 


[1] Posterior Cramér-Rao Bounds for Discrete-Time Nonlinear Filtering, P. Tichavsky, C. Muravchik and A. Nehorai, IEEE Transactions on Signal Processing, vol. 46, no. 5, May 1998

[2] The Cramer-Rao Lower Bound for 3D State Estimation from Rectified Stereo Cameras, D.E. Clark and S. Ivekovic, 13th Conference on Information Fusion, Feb 2011

[3] Posterior Cramér-Rao Bound for Tracking Target Bearing, 13th Annual Workshop on Adaptive Sensor Array Processing, 2005

[4] Posterior Cramér-Rao Bounds for State Estimation with Quantized Measurement, 40th Southeastern Symposium on System Theory, 2008