Unmanned aerial vehicles (UAVs) have attracted a lotof attention due to their enormous potentiality in civil and militaryapplications over the past years. In order to allow accurate controlaction of UAV, a robust and real-time state estimation techniqueis required. In this paper, we propose a Kalman filter based UAVstate estimation technique when the communication takes placeover wireless links in an Internet of Things (IoT) network. Weconsider that a set of sensors observes the state of the UAV andtransmits the observation to a control center (central server) overa distributed wireless IoT network. To deal with the communicationimpairments due to wireless communication links between theUAV’s sensors and the IoT system components, e.g., IoT gateways,a Bose–Chaudhuri–Hocquenghem coded communication systemis presented. Based on the received signals at the IoT gateways, aglobal state estimation technique is proposed. Performance of theproposed communication and estimation scheme is demonstratedthrough numerical results for different conditions. From the comparisonwith a conventional estimation scheme, it is observed thatthe proposed scheme significantly outperforms the conventionalscheme in terms of state estimation and error performance.
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