Robust Bearing Angle Error Estimation for Mobile Robots with a Gimballed Ultrasonic Seeker

Ui Suk Suh, Yunha Lee, Won Sang Ra, Tae Wook Kim

Research output: Contribution to journalArticle


This paper deals with the bearing angle error (BAE) estimation problem associated with a one-axis gimballed ultrasonic seeker, which can be used as a low-cost sensor for mobile robot applications. Under the assumptions that the target has an ultrasonic transmitter and the gimbal control loops work properly, the moving target tracking reduces to an estimation problem of a piecewise constant BAE using real sinusoids measured by a receiver array mounted on the gimbal. To effectively cope with the real-time implementation issue, our estimation problem is formulated using linear robust state estimation and is resolved using the constrained robust weighted least squares method. Through experimental results obtained from a hardware-in-the-loop simulation (HILS) approach, it is demonstrated that the proposed scheme provides more reliable and consistent estimation performance than existing approaches.

Original languageEnglish
Pages (from-to)5785-5795
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number7
Publication statusPublished - 2018 Jul

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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