Geometric Analysis of Optimal Trajectory for 3D Localization by UAV with Bearing-only sensor
In this paper, the 3D localization problem using fixed-wing UAVs equipped bearing-only sensor is studied for better estimation performance. It has been received relatively less attention than 2D case. Although estimation of 3D localization is affected by many factors, such as measurement noise, attitude error and geometry relationship etc., this paper focuses on the only geometrical analysis including altitude and orbit radius to develop optimal trajectory. A circular orbit above the target is regarded as a reference trajectory for fixed-wing UAVs. By Cramer-Rao Lower Bound (CRLB) theorem, estimation problem can be considered inversely into information-maximizing problem. Therefore, to analyze the geometric relationship of optimal trajectory by information-theoretic approach, Fisher Information Matrix (FIM) is used as a measure for quantifying the amount of target information. Finally, in order to verify the geometrical analysis of optimal trajectory, the estimation results of the several trajectories are compared by using Extended Kalman Filter (EKF).
Geometric Analysis of 3D Localization Cooperative Estimation Fisher Information Matrix.
Wonsuk Lee Jaehwan Pi Hyochoong Bang
Division of Aerospace Engineering, Korea Adavanced Institute of Science and Technology, Daejeon, Rep. of Korea
国际会议
2011年亚太航空航天技术学术会议(APISAT 2011)
澳大利亚
英文
1-9
2011-02-28（万方平台首次上网日期，不代表论文的发表时间）