TY - GEN
T1 - Robust weighted least squares range estimator for UAV applications
AU - Ra, Won Sang
AU - Whang, Ick Ho
AU - Park, Jin Bae
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
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U2 - 10.1109/SICE.2008.4654661
DO - 10.1109/SICE.2008.4654661
M3 - Conference contribution
AN - SCOPUS:56749155295
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 251
EP - 255
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -