An algorithm of highly maneuvering target tracking is proposed to solve the problem of large tracking error caused by strong maneuver. In this algorithm, a new estimator, named as multi-parameter fusion Singer (MF-Sin...An algorithm of highly maneuvering target tracking is proposed to solve the problem of large tracking error caused by strong maneuver. In this algorithm, a new estimator, named as multi-parameter fusion Singer (MF-Singer) model is derived based on the Singer model and the fuzzy reasoning method by using radial acceleration and velocity of the target, and applied to the problem of maneuvering target tracking in strong maneuvering environment and operating environment. The tracking performance of the MF-Singer model is evaluated and compared with other manuevering tracking models. It is shown that the MF-Singer model outperforms these algorithms in several examples.展开更多
The wind as a natural phenomenon would cause the derivation of the pesticide drops during the operation of agricultural unmanned aerial vehicles(UAV).In particular,the changeable wind makes it difficult for the precis...The wind as a natural phenomenon would cause the derivation of the pesticide drops during the operation of agricultural unmanned aerial vehicles(UAV).In particular,the changeable wind makes it difficult for the precision agriculture.For accurate spraying of pesticide,it is necessary to estimate the real-time wind parameters to provide the correction reference for the UAV path.Most estimation algorithms are model based,and as such,serious errors can arise when the models fail to properly fit the physical wind motions.To address this problem,a robust estimation model is proposed in this paper.Considering the diversity of the wind,three elemental time-related Markov models with carefully designed parameterαare adopted in the interacting multiple model(IMM)algorithm,to accomplish the estimation of the wind parameters.Furthermore,the estimation accuracy is dependent as well on the filtering technique.In that regard,the sparse grid quadrature Kalman filter(SGQKF)is employed to comprise the computation load and high filtering accuracy.Finally,the proposed algorithm is ran using simulation tests which results demonstrate its effectiveness and superiority in tracking the wind change.展开更多
There is one problem existing in gyroscope signal processing,which is that single models can＇ t adapt to change of carrier maneuvering process.Since it is difficult to identify the angular motion state of gyroscope c...There is one problem existing in gyroscope signal processing,which is that single models can＇ t adapt to change of carrier maneuvering process.Since it is difficult to identify the angular motion state of gyroscope carriers,interacting multiple model （IMM） is employed here to solve the problem.The Kalman filter-based IMM （IMMKF） algorithm is explained in detail and its application in gyro signal processing is introduced.And with the help of the Singer model,the system model set of gyro outputs is constructed.In order to demonstrate the effectiveness of the proposed approach,static experiment and dynamic experiment are carried out respectively.Simulation analysis results indicate that the IMMKF algorithm is excellent in eliminating gyro drift errors,which could adapt to the change of carrier maneuvering process well.展开更多
基金supported by the National Natural Science Foundation of China(6153102061471383)
文摘An algorithm of highly maneuvering target tracking is proposed to solve the problem of large tracking error caused by strong maneuver. In this algorithm, a new estimator, named as multi-parameter fusion Singer (MF-Singer) model is derived based on the Singer model and the fuzzy reasoning method by using radial acceleration and velocity of the target, and applied to the problem of maneuvering target tracking in strong maneuvering environment and operating environment. The tracking performance of the MF-Singer model is evaluated and compared with other manuevering tracking models. It is shown that the MF-Singer model outperforms these algorithms in several examples.
基金This work was supported by the National Natural Science Foundation of China(No.61803203).
文摘The wind as a natural phenomenon would cause the derivation of the pesticide drops during the operation of agricultural unmanned aerial vehicles(UAV).In particular,the changeable wind makes it difficult for the precision agriculture.For accurate spraying of pesticide,it is necessary to estimate the real-time wind parameters to provide the correction reference for the UAV path.Most estimation algorithms are model based,and as such,serious errors can arise when the models fail to properly fit the physical wind motions.To address this problem,a robust estimation model is proposed in this paper.Considering the diversity of the wind,three elemental time-related Markov models with carefully designed parameterαare adopted in the interacting multiple model(IMM)algorithm,to accomplish the estimation of the wind parameters.Furthermore,the estimation accuracy is dependent as well on the filtering technique.In that regard,the sparse grid quadrature Kalman filter(SGQKF)is employed to comprise the computation load and high filtering accuracy.Finally,the proposed algorithm is ran using simulation tests which results demonstrate its effectiveness and superiority in tracking the wind change.
基金Supported by the National High Technology Research and Development Program of China(No.2012AA061101)the Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information(Nanjing University of Science and Technology),Ministry of Education(No.3092013012205)
文摘There is one problem existing in gyroscope signal processing,which is that single models can＇ t adapt to change of carrier maneuvering process.Since it is difficult to identify the angular motion state of gyroscope carriers,interacting multiple model （IMM） is employed here to solve the problem.The Kalman filter-based IMM （IMMKF） algorithm is explained in detail and its application in gyro signal processing is introduced.And with the help of the Singer model,the system model set of gyro outputs is constructed.In order to demonstrate the effectiveness of the proposed approach,static experiment and dynamic experiment are carried out respectively.Simulation analysis results indicate that the IMMKF algorithm is excellent in eliminating gyro drift errors,which could adapt to the change of carrier maneuvering process well.
