Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data
Jan Steinbrener,Christian Brommer,Thomas Jantos,Alessandro Fornasier,Stephan Weiss,Jan Steinbrener,Christian Brommer,Thomas Jantos,Alessandro Fornasier,Stephan Weiss
We present a novel approach to improve 6 degree-of-freedom state propagation for unmanned aerial vehicles in a classical filter through pre-processing of high-speed inertial data with AI algorithms. We evaluate both an LSTM-based approach as well as a Transformer encoder architecture. Both algorithms take as input short sequences of fixed length N of high-rate inertial data provided by an inertial...
