Second-order divided difference filter for vision-based relative navigation

被引：2

作者：

王小刚 ^{[1
]}

崔乃刚 ^{[1
]}

郭继峰 ^{[1
]}

机构：

[1] Dept.of Astronautic Engineering,Harbin Institute of Technology

来源：

Journal of Harbin Institute of Technology(New series) | 2011年 / 03期

关键词：

relative navigation; second-order divided difference filter; vision sensor; unmanned aerial vehicle; formation flight;

D O I：

暂无

中图分类号：

V249.3 [导航];

学科分类号：

081105 ;

摘要：

A second-order divided difference filter (SDDF) is derived for integrating line of sight measurement from vision sensor with acceleration and angular rate measurements of the follower to estimate the precise relative position,velocity and attitude of two unmanned aerial vehicles (UAVs).The second-order divided difference filter which makes use of multidimensional interpolation formulations to approximate the nonlinear transformations could achieve more accurate estimation and faster convergence from inaccurate initial conditions than standard extended Kalman filter.The filter formulation is based on relative motion equations.The global attitude parameterization is given by quarternion,while a generalized three-dimensional attitude representation is used to define the local attitude error.Simulation results are shown to compare the performance of the second-order divided difference filter with a standard extended Kalman filter approach.

引用

页码：16 / 20

页数：5