A. Wondosen

A. Wondosen

I am an aerospace engineer with a passion for making drones safer and more autonomous. I have background in electrical and control engineering, and I am currently researching new algorithms about sensors fusion and machine learning for efficient and safer autonomous navigation of drones in complex environments.

Bayesian-based EKF Parameters Tuning

Research Project, 2023

A new method for tuning noise in UAV AHRS estimation uses Bayesian optimization for fast, efficient improvements. By adjusting scaling factors of noise matrices, it efficiently optimizes for high-dimensional systems. Performance tests show significant improvement with this method, which is widely applicable to AHRS applications.

Source code

Code

Results

  • EKF measurement and process noise covariance matrics scaling factor tuning process animation

video

video

Citation

Wondosen, A.; Debele, Y.; Kim, S.-K.; Shi, H.-Y.; Endale, B.; Kang, B.-S. Bayesian Optimization for Fine-Tuning EKF Parameters in UAV Attitude and Heading Reference System Estimation. Aerospace 2023, 10, 1023. https://doi.org/10.3390/aerospace10121023