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Multi-Mode Extended Kalman Filter for Aircraft Attitude Estimation *

IFAC Proceedings Volumes 2011年第1期44卷 7244-7249页

作者： P. Bauer J. Bokor Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

Abstract This paper introduces a new multi-mode Extended Kalman Filter (EKF) algorithm for attitude estimation of small UAVs during the whole flight (from take off to landing). At first, it examines the available INS/GPS measurements from the point of view of applicability in the estimator on ground and in air. From this, a multi-mode EKF is developed which switches between measurements to use them optimally. The quaternion representation of rotation was used to avoid singularity and derive a closed form solution of the Heun scheme in the discretization of system dynamics. Filter initialization and observability issues are also covered. After presenting the computational steps of the EKF the hybrid automata representation is described. This includes the description of estimator modes, automata states and input events. Finally, the graph of the automata representation is published. The paper ends with the description of tuning process and presentation of off-line test results on real noisy data. The new EKF performed well during all the tests including flights with stabilization controllers based on the estimated Euler angles.

关键词： Aircraft Attitude algorithms Extended Kalman filters Hybrid systems Tests

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Performance analysis of a vision only sense and avoid system for small UAVs

Performance analysis of a vision only sense and avoid system...

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AIAA Guidance, Navigation and control Conference 2011

作者： Vanek, Bálint Péni, Tamás Zarándyz, Ákos Bokorx, József Zsedrovits, Tamás Roska, Tamás Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Pázmány Péter Catholic University Hungary Head of Systems and Control Laboratory Pázmány Péter Catholic University Hungary

ISBN: (纸本)9781600869525

This paper investigates the real world feasibility of a purely vision based sense and avoid system, required for small unmanned aerial vehicles (UAV) to routinely access the national airspace. No information is exchanged between aircraft, only passive 2-D vision information is available to estimate the encountering traffic. The viability of the system is demonstrated on several estimation approaches, using Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) implementations. Since it is shown that for certain type of observer movements the estimation process remains unobservable in bearings-only problems, the sensitivity of the estimation performance with respect to the self motion of the own craft is investigated. The system is tested on a high fidelity Hardware-in-the-Loop (HIL) simulation platform, where fight control algorithms, scene rendering, image processing and estimation algorithms are implemented individually over a network of computers with special emphasis on parallel implementation of computationally intensive tasks. Representative encounter scenarios are presented to provide performance measures, including detection time and miss distance of distinctive approaches to assess the applicability of the results. © 2011 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Extended Kalman filters

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Robust model matching for geometric fault detection filters

Robust model matching for geometric fault detection filters

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作者： Seiler, Peter Bokor, József Vanek, Balint Balas, Gary J. Aerospace and Engineering Mechanics Department University of Minnesota United States Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary

ISBN: (纸本)9781457700804

Geometric fault detection and isolation filters are known for having excellent fault isolation properties. However, they are generally assumed to be sensitive to model uncertainty and noise. This paper proposes a robust model matching method to incorporate model uncertainty into the design of geometric fault detection filters. Several existing methods for robust filter synthesis are described to solve the robust model matching problem. It is then shown that the robust model matching problem has an interesting self-optimality property for multiplicative input uncertainty models. Finally, a simple example is presented to study the effect of parametric uncertainty and unmodeled dynamics on the performance of a geometric filter. © 2011 AACC American Automatic control Council.

关键词： Bandpass filters

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Road inclinations in the design of LPV-based adaptive cruise control

Road inclinations in the design of LPV-based adaptive cruise...

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作者： Németh, Balázs Gáspár, Péter Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9783902661937

The paper presents the design of a new adaptive cruise control method which takes into consideration the knowledge of the inclinations of the road and the velocity regulations along the route of the vehicle. By choosing the velocities of the vehicle that are the most suitable for the given road conditions, the number of unnecessary accelerations and brakings and their durations can be reduced. First a control-oriented model which contains the longitudinal control forces and disturbances is formalized. In the model the predicted road inclinations and velocity regulations are considered together with the safety requirements. Then the control system is designed by using the Linear Parameter Varying (LPV) control theory. The operation of the longitudinal controlled system and the influence of different designed parameters are also analyzed. © 2011 IFAC.

关键词： Adaptive cruise control

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LPV-based control design of vehicle platoon considering road inclinations

LPV-based control design of vehicle platoon considering road...

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作者： Németh, Balázs Gáspár, Péter Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9783902661937

The paper focuses on the design of a platoon control system which takes into consideration safe travel by using the string stability theorem and the knowledge of the inclinations of the road along the route of the platoon. By choosing the velocity of the platoon fitting in with the inclinations of the road the number of unnecessary accelerations and brakings can be reduced, thus so can the operations of the actuators of the vehicles, i.e. the driveline and the brake system. Although the longitudinal dynamics of the vehicles is formulated in a linear control-oriented model, the non-linear performance of the predicted road inclinations and safety requirements based on the string stability are taken into consideration. The design of the platoon control is based on the Linear Parameter Varying (LPV) control theory. © 2011 IFAC.

关键词： Linear control systems

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LPV design of adaptive integrated control for road vehicles

LPV design of adaptive integrated control for road vehicles

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作者： Gáspár, Péter Szabó, Zoltán Bokor, József Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9783902661937

The paper presents a multi-layer supervisory architecture for the design of adaptive integrated control systems in road vehicles. The performance specifications are guaranteed by the local LPV (Linear Parameter Varying) controllers, while the coordination of these components is provided by the supervisor. Monitoring components provide the supervisor with information needed to make decisions about the necessary interventions into the vehicle motion and guarantee the robust operation of the vehicle. In the proposed architecture the supervisor and the components communicate through a well-defined interface. This interface uses the monitoring signals as additional scheduling variables of the individual LPV controllers introduced to distinguish the performances that correspond to different operational modes. The advantage of this architecture is that local LPV controllers are designed independently provided that the monitoring signals are taken into consideration in the formalization of their performance specifications. © 2011 IFAC.

关键词： Supervisory personnel

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On hyperbolic wavelets

On hyperbolic wavelets

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作者： Soumelidis, Alexandros Schipp, Ferenc Bokor, József Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary Department of Numerical Analysis Eötvös Loránd University Budapest Hungary

ISBN: (纸本)9783902661937

A hyperbolic wavelet concept that can be used to describe, represent, and identify signals belonging to the space of functions H2 on the unit disc is constructed. The wavelet is derived as the voice-transform belonging to the unitary representation of the Blaschke group upon H2 on the disc. An alternative for discretization is also proposed and an efficient algorithm is constructed to compute the wavelet coefficients. © 2011 IFAC.

关键词： Signal analysis

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Uncertainty modeling and control design of variable-geometry suspension

Uncertainty modeling and control design of variable-geometry...

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International Symposium on Computational Intelligence and Informatics

作者： Balázs Németh Péter Gáspár Systems and Control Laboratory Computer and Automation Research Institute Hungary

The paper proposes the modeling and control design of a variable-geometry suspension system. The goal of the modification of wheel camber is to track road trajectory and enhance the lateral stability of the vehicle. The purpose of the system is to assist the driver to perform various maneuvers by influencing the camber angles of the rear wheels. First a tyre model and a dynamical model of the suspension are described. Second, the uncertainties of the system, which are considered at the control design of a variable-geometry suspension are formalized. The control design is based on the robust H ∞ /μ method, which meets the performance specifications and guarantees robustness against model uncertainties.

关键词： Suspensions Vehicles Wheels Uncertainty Trajectory Mathematical model Computational modeling

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Knowledge-based diagnosis of process systems using procedure HAZID information

Knowledge-based diagnosis of process systems using procedure...

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Lecture Notes in computer Science

作者： Werner-Stark, Ágnes Németh, Erzsébet Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Veszprém Hungary School of Chemical Engineering University of Queensland Brisbane QLD Australia Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute Budapest Hungary

ISBN: (纸本)9783642238536

Earlier investigations show that the results of hazard identification (HAZID) and analysis (e.g. HAZOP or FMEA) can effectively be used for knowledge-based diagnosis of complex process systems in their steady-state operation. In order to extend this approach for transient operating conditions controlled by operating procedures, the notion of nominal input-output event sequences of qualitative signals has been introduced, and the deviations used in the procedure HAZID analysis have been defined therefrom. The diagnosis can then be performed algorithmically by matching the deviation sequences of the observed input-output event sequences and the nominal ones generated by qualitative dynamic models. The concepts and methods are illustrated using a simple case study consisting of a simple tank, controlled by an operating procedure. © 2011 Springer-Verlag.

关键词： Hazards

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Robust H∞ filter design using frequency gridding

Robust H∞ filter design using frequency gridding

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作者： Seiler, Peter Vanek, Balint Bokor, József Balas, Gary J. Aerospace and Engineering Mechanics Department University of Minnesota United States Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary

ISBN: (纸本)9781457700804

This paper considers the design of robust H∞ filters for continuous-time linear systems with uncertainties described by integral quadratic constraints (IQCs). The synthesis problem can be converted into an infinite-dimensional optimization with frequency dependent linear matrix inequality constraints on the filter and IQC multipliers. This optimization is approximated by a finite dimensional semidefinite program by restricting the filter to be a linear combination of basis functions and enforcing the constraints on a finite, but dense, grid of frequencies. A heuristic algorithm is described to quickly solve the resulting finite dimensional optimization. A small example is provided to demonstrate the proposed algorithm. © 2011 AACC American Automatic control Council.

关键词： Optimization

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