Algorytmy rekonstrukcji trajektorii bezzałogowego statku powietrznego

This article presents an idea of applying smoothing algorithms for reconstitution of Unmanned Aerial Vehicle trajectory and an example of application of fixed-interval smoothing in the integrated navigation system. The article contains an introduction to the subject of filtering and off-line smoothing in linear discrete-time systems. A discrete equivalent of the dynamics and observation model for the assumed navigation system is given. Next, the process of calculations and results of the fixed-interval smoothing are discussed. (Algorithms of Reconstruction of Unmanned Aerial Vehicle Trajectory). Słowa kluczowe: system nawigacyjny, model dyskretny systemu, filtr Kalmana, wygładzanie w stałym przedziale.