NDLI: Two-stage robust extended Kalman filter in autonomous navigation for the powered descent phase of Mars EDL

Content Provider	IET Digital Library
Author	Xiao, Qiang Wu, Yunzhang Fu, Huimin Zhang, Yongbo
Abstract	This paper proposed a two-stage robust extended Kalman filter (TREKF) for state estimation of non-linear uncertain system with unknown inputs. In engineering practice, the extended Kalman filter (EKF) with unknown inputs of the non-linear uncertain system may be degraded or even diverged. The optimal two-stage EKF (TEKF) is designed to solve the unknown inputs. The robust EKF (REKF) is considered to solve the non-linear uncertain system for a long time. However, the information about the non-linear uncertain system with unknown inputs is always incorrect. To solve this problem, the TREKF is designed by using the advantages of the TEKF and REKF, furthermore, its stability is proved. Finally, the performances of the TREKF, which are compared with the results of the REKF, TEKF and EKF, are verified by illustrating a numerical example of the powered descent phase of Mars EDL (entry, descent and landing). These also verify that the unfavourable effects of the model uncertainties and the unknown inputs are reduced efficiently by using the TREKF for the miniature coherent altimeter and velocimeter and inertial measurement unit integrated navigation during the powered descent phase of Mars EDL.
Starting Page	277
Ending Page	287
Page Count	11
ISSN	17519675
Volume Number	9
e-ISSN	17519683
Issue Number	Issue 3, May (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-spr/9/3
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-spr.2014.0027
Journal	IET Signal Processing
Publisher Date	2015-04-21
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Autonomous Navigation Entry, Descent And Landing (Spacecraft) Filtering Method in Signal Processing Inertial Measurement Unit Integrated Navigation Inertial Navigation System Kalman Filter Mars EDL Mars Entry, Descent And Landing Nonlinear Uncertain System Powered Descent Phase REKF Space Communication System State Estimation TREKF Two-stage Robust Extended Kalman Filter
Content Type	Text
Resource Type	Article
Subject	Signal Processing Electrical and Electronic Engineering

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