Ponencia
A Symmetry-Based Unscented Particle Filter for State Estimation of a Ballistic Vehicle
Autor/es | Rebollo Fernández, José Antonio
Vázquez Valenzuela, Rafael Gavilán Jiménez, Francisco Cordero, Jorge Jiménez, Javier |
Departamento | Universidad de Sevilla. Departamento de Ingeniería Aeroespacial y Mecánica de Fluidos |
Fecha de publicación | 2023 |
Fecha de depósito | 2024-04-16 |
Publicado en |
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ISBN/ISSN | 978-171387234-4 2405-8963 |
Resumen | The problem of state estimation for vehicles when an initial fix is highly uncertain and/or the number of sensors is not sufficient (and changes with time) is very relevant for both aircraft and spacecraft navigation. This ... The problem of state estimation for vehicles when an initial fix is highly uncertain and/or the number of sensors is not sufficient (and changes with time) is very relevant for both aircraft and spacecraft navigation. This work proposes a Locally Linearized Particle Filter based on a quaternion-adapted Unscented Kalman Filter to estimate the state of a vehicle with minimal sensors and uncertain initial conditions, exploiting geometrical symmetries. The algorithm is applied to a ballistic vehicle navigating towards a laser-illuminated target using on-board sensors, including a triad of accelerometers and gyroscopes, a barometric altimeter and a laser receiver. A symmetry around the vertical axis is identified; based on it, the algorithm becomes capable of solving the navigation problem, even with highly uncertain initial conditions and without enough sensor information; this second condition is particularly severe when the laser receiver is not yet obtaining data. The proposed navigation algorithm offers promising results in simulation, rapidly converging to an accurate estimate of the real trajectory when the laser receiver becomes active. |
Agencias financiadoras | Ministerio de Ciencia e Innovación (MICIN). España |
Identificador del proyecto | TED2021-132099B-C33 |
Cita | Rebollo Fernández, J.A., Vázquez Valenzuela, R., Gavilán Jiménez, F., Cordero, J. y Jiménez, J. (2023). A Symmetry-Based Unscented Particle Filter for State Estimation of a Ballistic Vehicle. En IFAC World Congress (195861-), Yokohama (Japón): Elsevier. |
Ficheros | Tamaño | Formato | Ver | Descripción |
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A Symmetry.pdf | 624.6Kb | [PDF] | Ver/ | Versión publicada |