Developing algorithms of object motion control on the basis of Kalman filtering of bearing-only measurements

Consideration was given to the problem of controlling the motion of an object subject to random disturbances. It was assumed that the bearings to beacons with certain coordinates are open to measurements. The bearing angles are nonlinear functions of the current coordinates. Therefore, the present p...

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Bibliographic Details
Published inAutomation and remote control Vol. 76; no. 6; pp. 1018 - 1035
Main Author Miller, A. B.
Format Journal Article
LanguageEnglish
Published Moscow Pleiades Publishing 01.06.2015
Subjects
CAE) and Design
Calculus of Variations and Optimal Control; Optimization
Computer-Aided Engineering (CAD
Control
Mathematics
Mathematics and Statistics
Mechanical Engineering
Mechatronics
Queueing Systems
Robotics
Stochastic Systems
Systems Theory
Nominal Trajectory
Bearing Measurement
Inertial Navigation System
Speed Versus
Remote Control
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Summary:Consideration was given to the problem of controlling the motion of an object subject to random disturbances. It was assumed that the bearings to beacons with certain coordinates are open to measurements. The bearing angles are nonlinear functions of the current coordinates. Therefore, the present paper suggested a modified method of pseudomeasurements proving bias-free estimates of the current object coordinates using the algorithm of conditionallyoptimal filtering. These estimates underlie the object control algorithm demonstrating the possibility of high-quality tracing of the given motion trajectory.
ISSN:0005-1179
1608-3032
DOI:10.1134/S0005117915060065