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Content Provider | IET Digital Library |
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Author | Wang, Yu Wang, Xiaogang Cui, Naigang |
Abstract | In this study, a robust decentralised state estimation algorithm named decentralised Huber-based cubature filtering (DHCF) for formation flying spacecraft is proposed. In this algorithm, a decentralised architecture is designed, in which each deputy estimates its relative state with respect to the chief based on its own exteroceptive sensor measurement. The relative motion equation considering the non-spherical influence of the earth is derived. The relative measurements’ information contain not only the line-of-sight between the deputy and the chief, but also the ranges among the deputies, which improves the redundancy of the relative navigation task. A set of cubature points are selected using spherical-radial rule to map the probability distribution, which is more accurate than the linearisation of the extended Kalman filter (EKF). The non-Gaussian noise in formation is approximated by Gaussian mixture models. To deal with the non-Gaussian noise, the Huber technique is used in measurement update of each deputy and the extra measurement uncertainty caused by linearisation is compensated. Simulation results indicate that the proposed DHCF provides better performance in state estimation accuracy and robustness when compared to decentralised EKF and decentralised cubature Kalman filtering in the presence of non-Gaussian measurement noise. |
Starting Page | 814 |
Ending Page | 823 |
Page Count | 10 |
ISSN | 17518784 |
Volume Number | 13 |
e-ISSN | 17518792 |
Issue Number | Issue 5, May (2019) |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-rsn/13/5 |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2018.5348 |
Journal | IET Radar, Sonar & Navigation |
Publisher Date | 2019-01-08 |
Access Restriction | Open |
Rights Holder | © The Institution of Engineering and Technology |
Subject Keyword | Chief Cubature Kalman Filtering Cubature Points Decentralised Architecture Decentralised Control Decentralised EKF Decentralised Huber-based Cubature Deputy DHCF Extended Kalman Filter Exteroceptive Sensor Measurement Extra Measurement Uncertainty Filtering Method in Signal Processing Filtering Theory Formation Flying Spacecraft Gaussian Mixture Model Gaussian Noise Gaussian Processes Huber Technique Kalman Filter Measurement Uncertainty Measurement Update NonGaussian Measurement Noise NonGaussian Noise Nonlinear Filter Nonspherical Influence Probability Relative Measurement Relative Motion Equation Relative Navigation Task Relative State Robust Decentralised State Estimation Algorithm Robustness Signal Processing Theory Space Vehicle Spherical-radial Rule State Estimation State Estimation Accuracy Statistics |
Content Type | Text |
Resource Type | Article |
Subject | Electrical and Electronic Engineering |
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