Abstract:
The time-varying angular velocity state estimation of a UAV turning from a large field of view to a small field of view is a maneuvering target estimation problem. Firstl...Show MoreMetadata
Abstract:
The time-varying angular velocity state estimation of a UAV turning from a large field of view to a small field of view is a maneuvering target estimation problem. Firstly, based on the curvilinear motion model of the target, two kinds of nonlinear target maneuvering models are established by the state amplification method according to two different velocity expressions, namely the Cartesian velocity constant turning maneuver (CVCT) model and the polar velocity constant turning (PVCT) model. Secondly, the CVVT model and PVVT model are re-established by assuming the time-varying angular velocity as a zero mean first order Markov (ZFOM) process. Finally, the simulation experiment is carried out in combination with UKF filtering algorithm. The experimental results show that the PVVT-UKF model has higher accuracy in angular velocity, position and velocity estimation when the angular velocity is the time-varying slope function.
Published in: 2021 International Conference on Control, Automation and Information Sciences (ICCAIS)
Date of Conference: 14-17 October 2021
Date Added to IEEE Xplore: 09 December 2021
ISBN Information: