Robust weighted least squares range estimator for UAV applications

Won Sang Ra, Ick Ho Whang, Jin Bae Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

A novel range estimator is proposed for unmanned aerial vehicles (UAVs) with a passive sensor which can measure both the line-of-sight (LOS) angle and rate. Apart from the previous passive ranging filters, our method is based on the linear kinematic relation; the relative velocity perpendicular to LOS vector is the multiplication of LOS rate and range. However, the LOS rate measurement noise forms the linear time-varying system model with stochastic parametric uncertainty. This motivates us to solve the range estimation problem within the context of the recently developed robust least squares (RLS) estimation scheme. Slight modification of the RLS filtering is made to prevent the range estimation performance degradation due to the non-stationary flight environment. Computer simulation results demonstrate the faster convergence property of the proposed method compared to the existing nonlinear estimators.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages251-255
Number of pages5
DOIs
Publication statusPublished - 2008
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: 2008 Aug 202008 Aug 22

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period08/8/2008/8/22

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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