State estimation of an octorotor with unknown inputs. Application to radar imaging
| Autor: | Thomas Chevet, Cristina Stoica Maniu, Maria Makarov, Pierre Tarascon, Israel Hinostroza |
|---|---|
| Přispěvatelé: | Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Sondra, CentraleSupélec, Université Paris-Saclay (COmUE) (SONDRA), ONERA-CentraleSupélec-Université Paris Saclay (COmUE) |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
Synthetic aperture radar
0209 industrial biotechnology Computer science Context (language use) 02 engineering and technology Linear interpolation Synthetic Aperture Radar [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics Extended Kalman filter 020901 industrial engineering & automation Control theory Computer Science::Systems and Control Radar imaging 0202 electrical engineering electronic engineering information engineering Synthetic aperture radar image Computer vision Drones business.industry 020208 electrical & electronic engineering Kalman filter Computer Science::Multiagent Systems State (computer science) Artificial intelligence business Kalman filters Estimation |
| Zdroj: | 21st International Conference on System Theory, Control and Computing 21st International Conference on System Theory, Control and Computing, Oct 2017, Sinaia, Romania. pp.723-728, ⟨10.1109/ICSTCC.2017.8107122⟩ |
| DOI: | 10.1109/ICSTCC.2017.8107122⟩ |
| Popis: | International audience; This paper focuses on the design of a linear Kalman filter and an extended Kalman filter for the estimation of an octorotor unmanned aerial vehicle's (UAV) state in the context of Synthetic Aperture Radar image reconstruction. A comparison to a linear interpolation method is also proposed. The Kalman filters are developed based on a complete nonlinear model of the UAV and its linearized form. A particularity of the considered platform is that the control signals are not measured and have to be estimated as well as the UAV's state. The proposed techniques are then tested on a UAV simulator and a radar imaging simulator. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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