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Covariance control for sensor management in cluttered tracking environments

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2004年第3期27卷 493-496页

作者： Kalandros, M No, LY Univ Colorado Dept Elect & Comp Engn Boulder CO 80309 USA

Sensor management schemes have recently been proposed to reduce the tracking demands on multisensor systems while minimizing the loss of tracking performance by selecting only enough sensing resources to maintain a desired covariance level for each target. However, covariance control algorithms to date have not addressed the presence of clutter measurements and the need for data association in those cases. This note presents a method of reducing the effects of probabilistic data association on covariance control algorithms through the addition of a scalar loss of information parameter. Whereas single-sensor management systems have been designed for the probabilistic data association filter (PDAF), including one that uses the loss of information parameter to approximate the covariance calculation, no sensor managers to date haw been designed around the multisensor extension of the PDAF. Monte Carlo simulations show that, without this parameter, the co variance control system is unable to maintain the desired covariance resulting in a much larger actual covariance level. Use of the loss of information parameter generally restores system performance.

关键词： Sensors Solar Electric Propulsion Interplanetary Mission Monte Carlo Simulation Control algorithm Probability Distribution track algorithm Propulsion System Kalman Filter Propellant

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SYNTHESIS OF MINIMUM-TIME FEEDBACK LAWS FOR DYNAMIC-SYSTEMS USING NEURAL NETWORKS

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 1994年第4期17卷 868-870页

作者： LEE, AY SMYTH, P JET PROP LAB COMMUN SYST RESPASADENACA 91109

Neural network-based feedback laws for dynamic systems are synthesized using the computed optimal time histories of the state and control variables. The efficacy of the proposed approach is successfully demonstrated on a minimum-time orbit injection problem. If the methodology is found to scale up well to real-life problems, with many state and control variables, it will have significant potential for a variety of guidance and control problems. (AIAA)

关键词： Artificial Neural Network Nonlinear Feedback Extended Kalman Filter Open Loop Controller Optimal Control Nonlinear Systems Guidance Laws Optimization algorithm track algorithm Terminal Velocity

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Apparent Attitude tracking of Airborne Wind Energy System

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2019年第4期42卷 958-962页

作者： Li, Haocheng Olinger, David J. Demetriou, Michael A. Worcester Polytech Inst Aerosp Engn Program Worcester MA 01609 USA

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Nonlinear algorithm for tracking Interplanetary Low-Thrust Trajectories

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2012年第2期35卷 696-700页

作者： Huang, Rosemary C. Hwang, Inseok Corless, Martin J. Purdue Univ Sch Aeronaut & Astronaut W Lafayette IN 47907 USA

A Nonlinear model predictive control (NMPC) algorithm using a novel differential transformation (DT)-based method is presented for the closed-loop tracking of interplanetary low-thrust trajectories. The concept of NMPC involves solving a nonlinear open-loop optimal control problem whenever a new state measurement is obtained. Then, the calculated control input is applied open loop until the next measurement is available. Early NMPC techniques have been applied successfully in other fields [1]. So far, there have been a few who have used NMPC techniques for low-thrust transfer control. One applied NMPC with a direct transcription method for solving the open-loop problem [2], Another combined the concepts of NMPC with the Rosenbrock direct optimization method [3] to optimize specialized control parameters. Both were for Earth-centered low-thrust transfers.

关键词： Thrust Linear Quadratic Regulator Costate Equation Taylor Series Earth Solar Radiation Nonlinear Programming Boundary Value Problems Spacecraft Trajectories track algorithm

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COUPLING OF TETHER LATERAL VIBRATION AND SUBSATELLITE ATTITUDE MOTION

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 1992年第5期15卷 1284-1287页

作者： BERGAMASCHI, S BONON, F University of Padova Padova 35131 Italy

A relatively simple model is used to study the coupling between tether taut string vibrations and satellite pendulous oscillations in the linear regime. The numerical values adopted to obtain the results presented are pertinent to the Tethered Satellite System - Mission 1, and particular attention is given to the half-sine deflection of the tether, in view of the amount of energy stored in it. The results confirm that if the skip-rope mode is excited during retrieval, a considerable amount of energy can be transferred to the satellite during the last phase. (P.D.)

关键词： Satellites Automatic Control Kalman Filter Tethered Satellite System Numerical Simulation track algorithm Aircraft Maneuvers String Vibration Attitude Dynamics Image Processors

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Highly Efficient Attitude-Estimation algorithm for Star trackers Using Optimal Image Matching

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2013年第6期36卷 1672-1680页

作者： Delabie, Tjorven De Schutter, Joris Vandenbussche, Bart Katholieke Univ Leuven B-3001 Heverlee Belgium

This paper presents a novel attitude-estimation algorithm for spacecraft using a star tracker. The algorithm is based on an efficient approach to match the stars of two images optimally on top of each other, hence the name of the algorithm: attitude estimation using image matching. In tests, attitude estimation using image matching proved to be as robust as the most robust existing methods, and faster than the fast iterative methods. On top of this, attitude estimation using image matching allows, in a lot of cases, the elimination of a computationally intensive coordinate conversion, which normally precedes the attitude-estimation algorithm. The computational cost of this conversion step is several times higher than that of the attitude-estimation algorithm itself, and so this elimination yields a huge increase in efficiency as compared to the existing algorithms. This significant reduction in computational cost allows to obtain the attitude estimates at a higher rate, implement more accurate centroiding algorithms, or use more stars in the attitude-estimation algorithm, all of which improve the performance of the attitude estimation. It could also allow the use of star trackers in the expanding field of small-satellite projects, in which satellite platforms have a limited computational capability.

关键词： Star tracker Small Satellites Singular Value Decomposition MATLAB Euler Angles Spacecraft Attitude Attitude Determination and Control System track algorithm Spacecraft Missions Iterative Solution

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Solar radiation on Mars: tracking photovoltaic array

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JOURNAL OF PROPULSION AND POWER 1996年第2期12卷 410-419页

作者： Appelbaum, J Flood, DJ Crutchik, M NASA LEWIS RES CTRPHOTOVOLTA BRANCHCLEVELANDOH 44135 TEL AVIV UNIV FAC ENGN SYSTIL-69978 TEL AVIVISRAEL

A photovoltaic power source for surface-based operation on Mars can offer many advantages. Detailed information on solar radiation characteristics on Mars and the insolation on various types of collector surfaces are necessary for effective design of future planned photovoltaic systems. In this article we present analytical expressions for solar radiation calculation and solar radiation data for single-axis (of various types) and two-axis tracking surfaces and compare the insolation to horizontal and inclined surfaces. For clear skies (low atmospheric dust load) tracking surfaces result in higher insolation than stationary surfaces, whereas for highly dusty atmospheres, the difference is small. The insolation on the different types of stationary and tracking surfaces depends on latitude, season, optical depth of the atmosphere, and the duration of system operation. These insolations have to be compared for each planned mission.

关键词： Solar Radiation Optical Depth Photovoltaic System Earth Albedo Exploration of Mars Temperature Effects track algorithm Mars Atmosphere Electric Power

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MULTISENSOR MULTITARGET MIXTURE REDUCTION algorithmS FOR trackING

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 1994年第6期17卷 1205-1211页

作者： PAO, LY Northwestern Univ. Evanston IL

A single-sensor, single-target mixture reduction (MR) data association algorithm is extended for use in multisensor, multitarget tracking situations. MR is extended for tracking an arbitrary number of targets using an arbitrary number of sensors under the assumption that the sensor measurement errors are independent across sensors. Like the single-sensor, single-target MR algorithm, which gives better performance than the probabilistic data association (PDA) filter, the multisensor, multitarget MR extensions give similar improvements in performance compared to the joint PDA (JPDA) and multisensor JPDA (MSJPDA) algorithms. Further, in the formulations for the multisensor and multitarget MR algorithms, the equations for the calculation of the data association probabilities have been put in the same form as for the JPDA, thus allowing previously developed fast JPDA computational techniques to be applicable.

关键词： Sensors Kalman Filter track algorithm Computing Monte Carlo Simulation Probability Density Functions

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Multiple Maneuvering Target tracking Using a Single Unmanned Aerial Vehicle

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2019年第1期42卷 78-90页

作者： Zhang, Chiyu Hwang, Inseok Purdue Univ Sch Aeronaut & Astronaut W Lafayette IN 47907 USA

This paper solves the problem of tracking multiple maneuvering ground targets using an unmanned aerial vehicle (UAV). The targets are widespread so that they may not be covered by the UAV's detection range simultaneously. Such a strategy is applied in which, whenever it is unable to detect all the targets, the UAV temporarily covers only some of the targets and goes back to the lost targets later. A recursive Bayesian estimation algorithm is proposed to keep track of the lost targets;a guidance objective function is then formulated to minimize the tracking uncertainty. By integrating the proposed estimation and the guidance methods, an efficient closed-loop multitarget tracking algorithm is developed. The effectiveness of the proposed approach is demonstrated with illustrative numerical examples.

关键词： UAV track algorithm Closed Loop Kalman Filter Dead Reckoning Guidance Laws Probability Density Functions White Noise Guidance algorithms Monte Carlo Simulation

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Development of Real-Time Unmanned Aerial Vehicle Urban Object Detection System with Federated Learning

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2024年第7期21卷 547-553页

作者： Lu, You-Ru Sun, Dengfeng Purdue Univ Sch Aeronaut & Astronaut W Lafayette IN 47906 USA

In this paper, an urban object detection system via unmanned aerial vehicles (UAVs) is developed to collect real-time traffic information, which can be further utilized in many applications such as traffic monitoring and urban traffic management. The system includes an object detection algorithm, deep learning model training, and deployment on a real UAV. For the object detection algorithm, the Mobilenet-SSD model is applied owing to its lightweight and efficiency, which make it suitable for real-time applications on an onboard microprocessor. For model training, federated learning (FL) is used to protect privacy and increase efficiency with parallel computing. Last, the FL-trained object detection model is deployed on a real UAV for real-time performance testing. The experimental results show that the object detection algorithm can reach a speed of 18 frames per second with good detection performance, which shows the real-time computation ability of a resource-limited edge device and also validates the effectiveness of the developed system.

关键词： Deep Convolutional Neural Network Computing Environments Reinforcement Learning Embedded Systems Avionics Computers track algorithm Image Processing Computer Vision Electric Power Conversion

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