NDLI: Airborne attitude/ground target location determinations using unscented Kalman filter

Content Provider	IEEE Xplore Digital Library
Author	Shan-Chih Hsieh Wang, L.K. Fei-Bin Hsaio Kou-Yuan Huang Fan-Jen Tsai
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. Eng., Nat. Kaohsiung Univ. of Appl. Sci., Taiwan (Shan-Chih Hsieh; Wang, L.K.)
Abstract	An innovative technique, utilizing solely a GPS pseudorange receiver and an off-the-shelf CCD camera, is presented to simultaneously identify the aircraft attitude and the location of a ground target within the field of view of the camera. The integration of unscented Kalman filter(UKF) equation and the orientation representation using quaternion in the formulation of system dynamics and measurement process makes UKF outperform the conventional extended Kalman filter(EKF) processing in the following aspects: fast convergence, averaging operation instead of linearization, and plausibility in various industrial/military applications. Due to the inclusions of aforementioned two kinds of sensors, the cost of the entire system is dramatically reduced. No singular position is encountered owning to the introduction of quaternion algebra in rotation formulation. Simulations are conducted; both attitude estimation and ground target positioning errors are computed via UKF; and the beauty of fast convergence rate of UKF is witnessed.
Sponsorship	Aerosp. and Electron. Syst. Soc
File Size	440263
File Format	PDF
ISBN	0780381556
ISSN	1095323X
DOI	10.1109/AERO.2004.1367931
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-03-06
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Position measurement Charge-coupled image sensors Kalman filters Quaternions Convergence Military computing Global Positioning System Charge coupled devices Aircraft Equations
Content Type	Text
Resource Type	Article
Subject	Aerospace Engineering Space and Planetary Science

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