Relative heading estimation for target handoff in GPS-denied environments
Relative heading estimation for target handoff in GPS-denied environments
复制标题
GPS 拒绝环境中目标切换的相对航向估计
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
R. Beard
中科院分区：
文献类型：
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作者：
H. Bai;R. Beard
本文研究了两个固定翼飞机之间的目标切换，没有访问GPS的问题。该问题需要估计车辆之间的相对姿态。我们研究的可观测性的相对状态需要做的切换时，飞机之间的相对位置矢量的测量，将是一个雷达或激光雷达传感器的情况。我们假设两架飞机不交换它们的空速和转弯速率信息。在温和的假设下，我们表明，这两个飞机之间的相对航向是可观察的。本文还提出了一种估计算法，使用一组扩展卡尔曼滤波器（EKF）估计的相对状态。仿真结果验证了该方法的可行性，以及在高噪声环境下EKF滤波器组相对于单一EKF滤波器的优势。
This paper addresses the problem of target handoff between two fixed wing aircraft that do not have access to GPS. The problem requires estimating the relative pose between the vehicles. We examine the observability of the relative states needed to do the handoff when the relative position vector between the aircraft is measured, as would be the case for a radar or a lidar sensor. We assume that the two aircraft do not exchange their airspeed and turn rate information. Under mild assumptions, we show that the relative heading between the two aircraft is observable. The paper also proposes an estimation algorithm that uses a bank of extended Kalman filters (EKF) to estimate the relative states. Simulation results demonstrate the feasibility of the proposed approach and the advantages of the EKF bank over a single EKF in a high-noise scenario.