A threat modeling method based on Kalman filter for UAV path planning

Abstract

For low altitude penetration task, unmanned aerial vehicles (UAVs) need to accomplish its task with collision free. However, due to the uncertainties in the flight environment, the application of UAV is undoubtedly affected in the actual complex flight environment. This paper presents a method based on Kalman filter to evaluate the risk of UAVs under the precondition of distance sensor noise, GPS sensor noise and model estimation noise, aiming to provide the security flight space. Meanwhile, experimental results verify the correctness of the algorithm.