Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781722702366
Category :
Languages : en
Pages : 86
Book Description
A new derivation of an algorithm which fuses the outputs of two Kalman filters is presented within the context of previous research in this field. Unlike other works, this derivation clearly shows the combination of estimates to be optimal, minimizing the trace of the fused covariance matrix. The algorithm assumes that the filters use identical models, and are stable and operating optimally with respect to their own local measurements. Evidence is presented which indicates that the error ellipsoid derived from the covariance of the optimally fused estimate is contained within the intersections of the error ellipsoids of the two filters being fused. Modifications which reduce the algorithm's data transmission requirements are also presented, including a scalar gain approximation, a cross-covariance update formula which employs only the two contributing filters' autocovariances, and a form of the algorithm which can be used to reinitialize the two Kalman filters. A sufficient condition for using the optimally fused estimates to periodically reinitialize the Kalman filters in this fashion is presented and proved as a theorem. When these results are applied to an optimal spacecraft rendezvous problem, simulated performance results indicate that the use of optimally fused data leads to significantly improved robustness to initial target vehicle state errors. The following applications of estimate fusion methods to spacecraft rendezvous are also described: state vector differencing, and redundancy management. Carpenter, J. Russell Johnson Space Center...
Progress in Navigation Filter Estimate Fusion and Its Application to Spacecraft Rendezvous
Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781722702366
Category :
Languages : en
Pages : 86
Book Description
A new derivation of an algorithm which fuses the outputs of two Kalman filters is presented within the context of previous research in this field. Unlike other works, this derivation clearly shows the combination of estimates to be optimal, minimizing the trace of the fused covariance matrix. The algorithm assumes that the filters use identical models, and are stable and operating optimally with respect to their own local measurements. Evidence is presented which indicates that the error ellipsoid derived from the covariance of the optimally fused estimate is contained within the intersections of the error ellipsoids of the two filters being fused. Modifications which reduce the algorithm's data transmission requirements are also presented, including a scalar gain approximation, a cross-covariance update formula which employs only the two contributing filters' autocovariances, and a form of the algorithm which can be used to reinitialize the two Kalman filters. A sufficient condition for using the optimally fused estimates to periodically reinitialize the Kalman filters in this fashion is presented and proved as a theorem. When these results are applied to an optimal spacecraft rendezvous problem, simulated performance results indicate that the use of optimally fused data leads to significantly improved robustness to initial target vehicle state errors. The following applications of estimate fusion methods to spacecraft rendezvous are also described: state vector differencing, and redundancy management. Carpenter, J. Russell Johnson Space Center...
Publisher: Createspace Independent Publishing Platform
ISBN: 9781722702366
Category :
Languages : en
Pages : 86
Book Description
A new derivation of an algorithm which fuses the outputs of two Kalman filters is presented within the context of previous research in this field. Unlike other works, this derivation clearly shows the combination of estimates to be optimal, minimizing the trace of the fused covariance matrix. The algorithm assumes that the filters use identical models, and are stable and operating optimally with respect to their own local measurements. Evidence is presented which indicates that the error ellipsoid derived from the covariance of the optimally fused estimate is contained within the intersections of the error ellipsoids of the two filters being fused. Modifications which reduce the algorithm's data transmission requirements are also presented, including a scalar gain approximation, a cross-covariance update formula which employs only the two contributing filters' autocovariances, and a form of the algorithm which can be used to reinitialize the two Kalman filters. A sufficient condition for using the optimally fused estimates to periodically reinitialize the Kalman filters in this fashion is presented and proved as a theorem. When these results are applied to an optimal spacecraft rendezvous problem, simulated performance results indicate that the use of optimally fused data leads to significantly improved robustness to initial target vehicle state errors. The following applications of estimate fusion methods to spacecraft rendezvous are also described: state vector differencing, and redundancy management. Carpenter, J. Russell Johnson Space Center...
Progress in Navigation Filter Estimate Fusion and Its Application to Spacecraft Rendezvous
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 90
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 90
Book Description
Scientific and Technical Aerospace Reports
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 994
Book Description
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 994
Book Description
Monthly Catalog of United States Government Publications
Author:
Publisher:
ISBN:
Category : Government publications
Languages : en
Pages : 1096
Book Description
Publisher:
ISBN:
Category : Government publications
Languages : en
Pages : 1096
Book Description
Monthly Catalogue, United States Public Documents
Author:
Publisher:
ISBN:
Category : Government publications
Languages : en
Pages : 1100
Book Description
Publisher:
ISBN:
Category : Government publications
Languages : en
Pages : 1100
Book Description
Monthly Catalog of United States Government Publications
Author:
Publisher:
ISBN:
Category : Government publications
Languages : en
Pages : 1384
Book Description
Publisher:
ISBN:
Category : Government publications
Languages : en
Pages : 1384
Book Description
Optimal Estimation of Dynamic Systems
Author: John L. Crassidis
Publisher: CRC Press
ISBN: 1439839867
Category : Mathematics
Languages : en
Pages : 745
Book Description
An ideal self-study guide for practicing engineers as well as senior undergraduate and beginning graduate students, this book highlights the importance of both physical and numerical modeling in solving dynamics-based estimation problems found in engineering systems, such as spacecraft attitude determination, GPS navigation, orbit determination, and aircraft tracking. With more than 100 pages of new material, this reorganized and expanded edition incorporates new theoretical results, a new chapter on advanced sequential state estimation, and additional examples and exercises. MATLAB codes are available on the book's website.
Publisher: CRC Press
ISBN: 1439839867
Category : Mathematics
Languages : en
Pages : 745
Book Description
An ideal self-study guide for practicing engineers as well as senior undergraduate and beginning graduate students, this book highlights the importance of both physical and numerical modeling in solving dynamics-based estimation problems found in engineering systems, such as spacecraft attitude determination, GPS navigation, orbit determination, and aircraft tracking. With more than 100 pages of new material, this reorganized and expanded edition incorporates new theoretical results, a new chapter on advanced sequential state estimation, and additional examples and exercises. MATLAB codes are available on the book's website.
Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications
Author: Ruben Vera-Rodriguez
Publisher: Springer
ISBN: 3030134695
Category : Computers
Languages : en
Pages : 1001
Book Description
This book constitutes the refereed post-conference proceedings of the 23rd Iberoamerican Congress on Pattern Recognition, CIARP 2018, held in Madrid, Spain, in November 2018 The 112 papers presented were carefully reviewed and selected from 187 submissions The program was comprised of 6 oral sessions on the following topics: machine learning, computer vision, classification, biometrics and medical applications, and brain signals, and also on: text and character analysis, human interaction, and sentiment analysis
Publisher: Springer
ISBN: 3030134695
Category : Computers
Languages : en
Pages : 1001
Book Description
This book constitutes the refereed post-conference proceedings of the 23rd Iberoamerican Congress on Pattern Recognition, CIARP 2018, held in Madrid, Spain, in November 2018 The 112 papers presented were carefully reviewed and selected from 187 submissions The program was comprised of 6 oral sessions on the following topics: machine learning, computer vision, classification, biometrics and medical applications, and brain signals, and also on: text and character analysis, human interaction, and sentiment analysis
Grid-based Nonlinear Estimation and Its Applications
Author: Bin Jia
Publisher: CRC Press
ISBN: 1351757407
Category : Mathematics
Languages : en
Pages : 138
Book Description
Grid-based Nonlinear Estimation and its Applications presents new Bayesian nonlinear estimation techniques developed in the last two decades. Grid-based estimation techniques are based on efficient and precise numerical integration rules to improve performance of the traditional Kalman filtering based estimation for nonlinear and uncertainty dynamic systems. The unscented Kalman filter, Gauss-Hermite quadrature filter, cubature Kalman filter, sparse-grid quadrature filter, and many other numerical grid-based filtering techniques have been introduced and compared in this book. Theoretical analysis and numerical simulations are provided to show the relationships and distinct features of different estimation techniques. To assist the exposition of the filtering concept, preliminary mathematical review is provided. In addition, rather than merely considering the single sensor estimation, multiple sensor estimation, including the centralized and decentralized estimation, is included. Different decentralized estimation strategies, including consensus, diffusion, and covariance intersection, are investigated. Diverse engineering applications, such as uncertainty propagation, target tracking, guidance, navigation, and control, are presented to illustrate the performance of different grid-based estimation techniques.
Publisher: CRC Press
ISBN: 1351757407
Category : Mathematics
Languages : en
Pages : 138
Book Description
Grid-based Nonlinear Estimation and its Applications presents new Bayesian nonlinear estimation techniques developed in the last two decades. Grid-based estimation techniques are based on efficient and precise numerical integration rules to improve performance of the traditional Kalman filtering based estimation for nonlinear and uncertainty dynamic systems. The unscented Kalman filter, Gauss-Hermite quadrature filter, cubature Kalman filter, sparse-grid quadrature filter, and many other numerical grid-based filtering techniques have been introduced and compared in this book. Theoretical analysis and numerical simulations are provided to show the relationships and distinct features of different estimation techniques. To assist the exposition of the filtering concept, preliminary mathematical review is provided. In addition, rather than merely considering the single sensor estimation, multiple sensor estimation, including the centralized and decentralized estimation, is included. Different decentralized estimation strategies, including consensus, diffusion, and covariance intersection, are investigated. Diverse engineering applications, such as uncertainty propagation, target tracking, guidance, navigation, and control, are presented to illustrate the performance of different grid-based estimation techniques.
Government Reports Announcements & Index
Author:
Publisher:
ISBN:
Category : Science
Languages : en
Pages : 616
Book Description
Publisher:
ISBN:
Category : Science
Languages : en
Pages : 616
Book Description