LSTM-Kalman Filter-Based Multi-Sensor Signal Fusion for UAV Altitude Prediction in Non-Gaussian Environments
Bibliographic record
Abstract
To address altitude estimation inaccuracies in Unmanned Aerial Vehicles (UAVs) under non-Gaussian noise and intermittent sensor failures, this paper proposes a Long Short-Term Memory (LSTM)-Kalman cooperative architecture that establishes symbiotic interaction between deep feature extraction and physical filtering.The core innovation lies in bidirectional cyclic learning: LSTM layers distill temporal noise patterns while Kalman modules inject state-space constraints through differentiable projection.A manifold interpolation mechanism resolves multi-rate signal mismatches, utilizing LSTM-derived coherence weights to guide Lie group synchronization for phase distortion suppression.The framework incorporates a fractal-aware decoupling network where LSTM cells generate adaptive masks, dynamically separating Gaussian/non-Gaussian components to reconstruct Kalman gain rules.Experimental validation demonstrates the architecture's superiority in balancing physical consistency and learning capability, providing a novel paradigm for robust navigation signal fusion under complex noise conditions.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".