The aim of this paper is to present a new INS/GPS sensor fusion scheme, based on State-Dependent Riccati Equation (SDRE) nonlinear filtering, for Unmanned Aerial Vehicle (UAV) localization problem. SDRE navigation filter is proposed as an alternative to Extended Kalman Filter (EKF), which has been largely used in the literature. Based on optimal control theory, SDRE filter solves issues linked with EKF filter such as linearization errors, which severely decrease UAV localization performances. Stability proof of SDRE nonlinear filter is also presented and validated on a 3-D UAV flight scenario. Results obtained by SDRE navigation filter were compared to EKF navigation filter results. This comparison shows better UAV localization performance using SDRE filter. The suitability of the SDRE navigation filter over an unscented Kalman navigation filter for highly nonlinear UAV flights is also demonstrated.Index Terms-Sensor data fusion, state-dependent Riccati equation (SDRE) nonlinear filter, SDRE stability, unmanned aerial vehicle (UAV) localization.

No abstract

No abstract

We propose a multi-modal and multi-discipline data fusion strategy appropriate for Automatic Target Recognition (ATR) on Synthetic Aperture Radar imagery. Our architecture fuses a proposed Clustered version of the AlexNet Convolutional Neural Network with Sparse Coding theory that is extended to facilitate an adaptive elastic net optimization concept. Evaluation on the MSTAR dataset yields the highest ATR performance reported yet which is 99.33% and 99.86% for the 3 and 10-class problems respectively.