Unscented Kalman Filtering For Relative Attitude And Position Estimation
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Unscented Kalman Filtering For Relative Attitude And Position Estimation
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Author :
language : en
Publisher:
Release Date : 2007
Unscented Kalman Filtering For Relative Attitude And Position Estimation written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with categories.
In this thesis, the Unscented Filter is derived for the relative attitude and position estimation. In the previous work, the Extended Kalman Filter had shown its success in the estimation. For an inaccurate nonlinear model system, the Unscented Filter has proved to converge faster than the standard Extended Kalman Filter. The relative attitude and position estimation approach is based on the vision-based navigation (VISNAV) system. The line-of-sight measurement with the gyro measurements are used by the Unscented Filter to estimate the relative attitude, gyro biases and relative position. The modified Rodrigues parameters are used to define the local quaternion error for the sigma points transformation, while the quaternion is used for global attitude propagation. The transformation between quaternion and modified Rodrigues parameters is always guarantees quaternion normalization. Both spacecraft are assumed to have an equal type of build so that their orbits are predictable. The simulation results show that the standard Extended Kalman Filter is only able to provide converged results in a very limited low error, while the Unscented Filter can provide converged results up to a certain high error and with a faster convergence rate.
Analysis And Comparison Of Extended And Unscented Kalman Filtering Methods For Spacecraft Attitude Determination
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Author : Orlando X. Diaz
language : en
Publisher:
Release Date : 2010
Analysis And Comparison Of Extended And Unscented Kalman Filtering Methods For Spacecraft Attitude Determination written by Orlando X. Diaz and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Engineering categories.
Two methods of estimating the attitude position of a spacecraft are examined in this thesis: the extended Kalman filter (EKF) and the unscented Kalman filter (UKF). In particular, the UnScented QUaternion Estimator (USQUE) derived from [4] is implemented into a spacecraft model. For generalizations about the each of the filters, a simple problem is initially solved. These solutions display typical characteristics of each filter type. The UKF is very attractive in spacecraft attitude estimation, given that spacecraft dynamics are highly nonlinear. For nonlinear systems, the UKF is of particular interest because it uses a carefully selected set of sample points that more accurately map the probability distribution than the linearization of the standard extended Kalman filter. This leads to faster convergence of the attitude solution from largely inaccurate initial conditions. The filter created in this thesis is formulated based on Markley and Crassidis's work on standard attitude-vector measurements using a gyro-based model for attitude propagation. From the standard attitude vector measurements, the global attitude parameterization is found and given by a quaternion, while a generalized three-dimensional attitude representation is used to define the local attitude error. The multiplicative quaternion-error is then found from the local error. The simulation results indicate that the unscented filter is more robust than the extended Kalman filter.
Optimal Estimation Of Dynamic Systems
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Author : John L. Crassidis
language : en
Publisher: CRC Press
Release Date : 2004-04-27
Optimal Estimation Of Dynamic Systems written by John L. Crassidis and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-04-27 with Mathematics categories.
Most newcomers to the field of linear stochastic estimation go through a difficult process in understanding and applying the theory.This book minimizes the process while introducing the fundamentals of optimal estimation. Optimal Estimation of Dynamic Systems explores topics that are important in the field of control where the signals received are used to determine highly sensitive processes such as the flight path of a plane, the orbit of a space vehicle, or the control of a machine. The authors use dynamic models from mechanical and aerospace engineering to provide immediate results of estimation concepts with a minimal reliance on mathematical skills. The book documents the development of the central concepts and methods of optimal estimation theory in a manner accessible to engineering students, applied mathematicians, and practicing engineers. It includes rigorous theoretial derivations and a significant amount of qualitiative discussion and judgements. It also presents prototype algorithms, giving detail and discussion to stimulate development of efficient computer programs and intelligent use of them. This book illustrates the application of optimal estimation methods to problems with varying degrees of analytical and numercial difficulty. It compares various approaches to help develop a feel for the absolute and relative utility of different methods, and provides many applications in the fields of aerospace, mechanical, and electrical engineering.
Grid Based Nonlinear Estimation And Its Applications
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Author : Bin Jia
language : en
Publisher: CRC Press
Release Date : 2019-04-25
Grid Based Nonlinear Estimation And Its Applications written by Bin Jia and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-04-25 with Mathematics categories.
Grid-based Nonlinear Estimation and its Applications presents new Bayesian nonlinear estimation techniques developed in the last two decades. Grid-based estimation techniques are based on efficient and precise numerical integration rules to improve performance of the traditional Kalman filtering based estimation for nonlinear and uncertainty dynamic systems. The unscented Kalman filter, Gauss-Hermite quadrature filter, cubature Kalman filter, sparse-grid quadrature filter, and many other numerical grid-based filtering techniques have been introduced and compared in this book. Theoretical analysis and numerical simulations are provided to show the relationships and distinct features of different estimation techniques. To assist the exposition of the filtering concept, preliminary mathematical review is provided. In addition, rather than merely considering the single sensor estimation, multiple sensor estimation, including the centralized and decentralized estimation, is included. Different decentralized estimation strategies, including consensus, diffusion, and covariance intersection, are investigated. Diverse engineering applications, such as uncertainty propagation, target tracking, guidance, navigation, and control, are presented to illustrate the performance of different grid-based estimation techniques.
Handbook Of Position Location
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Author : Reza Zekavat
language : en
Publisher: John Wiley & Sons
Release Date : 2019-01-28
Handbook Of Position Location written by Reza Zekavat and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-01-28 with Science categories.
A comprehensive review of position location technology — from fundamental theory to advanced practical applications Positioning systems and location technologies have become significant components of modern life, used in a multitude of areas such as law enforcement and security, road safety and navigation, personnel and object tracking, and many more. Position location systems have greatly reduced societal vulnerabilities and enhanced the quality of life for billions of people around the globe — yet limited resources are available to researchers and students in this important field. The Handbook of Position Location: Theory, Practice, and Advances fills this gap, providing a comprehensive overview of both fundamental and cutting-edge techniques and introducing practical methods of advanced localization and positioning. Now in its second edition, this handbook offers broad and in-depth coverage of essential topics including Time of Arrival (TOA) and Direction of Arrival (DOA) based positioning, Received Signal Strength (RSS) based positioning, network localization, and others. Topics such as GPS, autonomous vehicle applications, and visible light localization are examined, while major revisions to chapters such as body area network positioning and digital signal processing for GNSS receivers reflect current and emerging advances in the field. This new edition: Presents new and revised chapters on topics including localization error evaluation, Kalman filtering, positioning in inhomogeneous media, and Global Positioning (GPS) in harsh environments Offers MATLAB examples to demonstrate fundamental algorithms for positioning and provides online access to all MATLAB code Allows practicing engineers and graduate students to keep pace with contemporary research and new technologies Contains numerous application-based examples including the application of localization to drone navigation, capsule endoscopy localization, and satellite navigation and localization Reviews unique applications of position location systems, including GNSS and RFID-based localization systems The Handbook of Position Location: Theory, Practice, and Advances is valuable resource for practicing engineers and researchers seeking to keep pace with current developments in the field, graduate students in need of clear and accurate course material, and university instructors teaching the fundamentals of wireless localization.
Handbook Of Position Location
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Author : Reza Zekavat
language : en
Publisher: John Wiley & Sons
Release Date : 2019-03-06
Handbook Of Position Location written by Reza Zekavat and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-03-06 with Science categories.
A comprehensive review of position location technology — from fundamental theory to advanced practical applications Positioning systems and location technologies have become significant components of modern life, used in a multitude of areas such as law enforcement and security, road safety and navigation, personnel and object tracking, and many more. Position location systems have greatly reduced societal vulnerabilities and enhanced the quality of life for billions of people around the globe — yet limited resources are available to researchers and students in this important field. The Handbook of Position Location: Theory, Practice, and Advances fills this gap, providing a comprehensive overview of both fundamental and cutting-edge techniques and introducing practical methods of advanced localization and positioning. Now in its second edition, this handbook offers broad and in-depth coverage of essential topics including Time of Arrival (TOA) and Direction of Arrival (DOA) based positioning, Received Signal Strength (RSS) based positioning, network localization, and others. Topics such as GPS, autonomous vehicle applications, and visible light localization are examined, while major revisions to chapters such as body area network positioning and digital signal processing for GNSS receivers reflect current and emerging advances in the field. This new edition: Presents new and revised chapters on topics including localization error evaluation, Kalman filtering, positioning in inhomogeneous media, and Global Positioning (GPS) in harsh environments Offers MATLAB examples to demonstrate fundamental algorithms for positioning and provides online access to all MATLAB code Allows practicing engineers and graduate students to keep pace with contemporary research and new technologies Contains numerous application-based examples including the application of localization to drone navigation, capsule endoscopy localization, and satellite navigation and localization Reviews unique applications of position location systems, including GNSS and RFID-based localization systems The Handbook of Position Location: Theory, Practice, and Advances is valuable resource for practicing engineers and researchers seeking to keep pace with current developments in the field, graduate students in need of clear and accurate course material, and university instructors teaching the fundamentals of wireless localization.
Issues In Astronautics And Space Research 2011 Edition
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Author :
language : en
Publisher: ScholarlyEditions
Release Date : 2012-01-09
Issues In Astronautics And Space Research 2011 Edition written by and has been published by ScholarlyEditions this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-01-09 with Technology & Engineering categories.
Issues in Astronautics and Space Research / 2011 Edition is a ScholarlyEditions™ eBook that delivers timely, authoritative, and comprehensive information about Astronautics and Space Research. The editors have built Issues in Astronautics and Space Research: 2011 Edition on the vast information databases of ScholarlyNews.™ You can expect the information about Astronautics and Space Research in this eBook to be deeper than what you can access anywhere else, as well as consistently reliable, authoritative, informed, and relevant. The content of Issues in Astronautics and Space Research: 2011 Edition has been produced by the world’s leading scientists, engineers, analysts, research institutions, and companies. All of the content is from peer-reviewed sources, and all of it is written, assembled, and edited by the editors at ScholarlyEditions™ and available exclusively from us. You now have a source you can cite with authority, confidence, and credibility. More information is available at http://www.ScholarlyEditions.com/.
Attitude Determination By Kalman Filtering Volume I
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Author :
language : en
Publisher:
Release Date : 1964
Attitude Determination By Kalman Filtering Volume I written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1964 with categories.
Fundamentals Of Spacecraft Attitude Determination And Control
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Author : F. Landis Markley
language : en
Publisher: Springer
Release Date : 2014-05-31
Fundamentals Of Spacecraft Attitude Determination And Control written by F. Landis Markley and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-31 with Technology & Engineering categories.
This book explores topics that are central to the field of spacecraft attitude determination and control. The authors provide rigorous theoretical derivations of significant algorithms accompanied by a generous amount of qualitative discussions of the subject matter. The book documents the development of the important concepts and methods in a manner accessible to practicing engineers, graduate-level engineering students and applied mathematicians. It includes detailed examples from actual mission designs to help ease the transition from theory to practice and also provides prototype algorithms that are readily available on the author’s website. Subject matter includes both theoretical derivations and practical implementation of spacecraft attitude determination and control systems. It provides detailed derivations for attitude kinematics and dynamics and provides detailed description of the most widely used attitude parameterization, the quaternion. This title also provides a thorough treatise of attitude dynamics including Jacobian elliptical functions. It is the first known book to provide detailed derivations and explanations of state attitude determination and gives readers real-world examples from actual working spacecraft missions. The subject matter is chosen to fill the void of existing textbooks and treatises, especially in state and dynamics attitude determination. MATLAB code of all examples will be provided through an external website.
An Extended Kalman Filter For Quaternion Based Attitude Estimation
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Author : Joao L. Marins
language : en
Publisher:
Release Date : 2000-09-01
An Extended Kalman Filter For Quaternion Based Attitude Estimation written by Joao L. Marins and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000-09-01 with categories.
This thesis develops an extended Kalman filter for real-time estimation of rigid body motion altitude. The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with those angles. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into quaternion rates, which are in turn integrated to obtain quaternions. The outputs of the model are values of three-dimensional angular rates, three-dimensional linear accelerations, and three-dimensional magnetic field vector. Gauss-Newton iteration is utilized to find the best quaternion that relates the measured linear accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. The quaternion obtained from the optimization algorithm is used as part of the observations for the Kalman filter. As a result, the measurement equations become linear. A new approach to attitude estimation is introduced in this thesis. The computational requirements related to the extended Kalman filter developed using this approach are significantly reduced, making it possible to estimate attitude in real-time. Extensive static and dynamic simulation of the filter using Matlab proved it to be robust. Test cases included the presence of large initial errors as well as high noise levels. In all cases the filter was able to converge and accurately track attitude.
