The Most Accurate Path from Point A to Point B is Not Necessarily a Straight Line
The Most Accurate Path from Point A to Point B is Not Necessarily a Straight Line
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从 A 点到 B 点最准确的路径不一定是直线
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Adam J. Rutkowski
中科院分区：
文献类型：
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作者：
Adam J. Rutkowski
摘要：本文研究了在没有直接观测目标位置（如方位测量或目标视线测量）和没有直接位置测量（如GPS提供的位置测量）的情况下，尽可能准确地将车辆从已知的初始位置引导到已知的目标位置的问题。车辆在平面环境中行驶，并且具有车载惯性测量单元和车载视觉系统来测量环境中特征的轴承角度。采用之字形路径到达目标比直线路径提供更好的位置估计。对于给定的能量预算，有一定的路径宽度或幅度，导致最佳的估计性能，而这个最优路径宽度取决于传感器噪声参数。为了分析飞行器轨迹的整个时间历程对最终位置估计性能的影响，导出了一个批估计器。这个公式的结果是一个线性方程组。当特征方位测量噪声相对于惯性测量噪声较大时，使系统矩阵条件数最小的路径宽度也使最终位置估计误差最小。
Abstract : This work studies the problem of guiding a vehicle from a known initial location to a known goal location as accurately as possible, without direct observation of the goal location (such as a bearing measurement, or line-of-sight to the goal), and without direct position measurements, such as those provided by GPS. The vehicle travels in a planar environment and has an onboard inertial measurement unit and an onboard visual system to measure bearing angles to features in the environment. Taking a zigzagging path toward the goal provides better position estimation than a straight path. For a given energy budget, there is a certain path width, or amplitude, that results in the best estimation performance, and this optimal path width depends on the sensor noise parameters. A batch estimator is derived to analyze the effect of the entire time history of the vehicle trajectory on final position estimation performance. The formulation results in a linear system of equations. The path width that minimizes the condition number of the system matrix also minimizes the final position estimation error when the feature bearing measurement noise is relatively large compared to the inertial measurement noise.