{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T10:20:51Z","timestamp":1773656451219,"version":"3.50.1"},"reference-count":28,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2015,11,27]],"date-time":"2015-11-27T00:00:00Z","timestamp":1448582400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100006769","name":"Russian Science Foundation","doi-asserted-by":"publisher","award":["14-50-00150"],"award-info":[{"award-number":["14-50-00150"]}],"id":[{"id":"10.13039\/501100006769","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks\u2019 position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations.<\/jats:p>","DOI":"10.3390\/s151229768","type":"journal-article","created":{"date-parts":[[2015,11,27]],"date-time":"2015-11-27T10:25:29Z","timestamp":1448619929000},"page":"29802-29820","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":48,"title":["UAV Control on the Basis of 3D Landmark Bearing-Only Observations"],"prefix":"10.3390","volume":"15","author":[{"given":"Simon","family":"Karpenko","sequence":"first","affiliation":[{"name":"Institute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ivan","family":"Konovalenko","sequence":"additional","affiliation":[{"name":"Institute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexander","family":"Miller","sequence":"additional","affiliation":[{"name":"Institute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9309-1129","authenticated-orcid":false,"given":"Boris","family":"Miller","sequence":"additional","affiliation":[{"name":"Institute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5560-7668","authenticated-orcid":false,"given":"Dmitry","family":"Nikolaev","sequence":"additional","affiliation":[{"name":"Institute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, Russia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2015,11,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2799","DOI":"10.1109\/TAES.2013.6621855","article-title":"Statistical Efficiency of Composite Position Measurements from Passive Sensors","volume":"49","author":"Osborn","year":"2013","journal-title":"IEEE Trans. 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