Unscented Particle Filters with Refinement Steps for UAV Pose Tracking

2021 ◽  
Vol 102 (2) ◽  
Author(s):  
Nuno Pessanha Santos ◽  
Victor Lobo ◽  
Alexandre Bernardino
2013 ◽  
Vol 117 (8) ◽  
pp. 922-933 ◽  
Author(s):  
Jehoon Lee ◽  
Romeil Sandhu ◽  
Allen Tannenbaum

2019 ◽  
Vol 67 (6) ◽  
pp. 483-492
Author(s):  
Seonghyeon Baek ◽  
Iljae Lee

The effects of leakage and blockage on the acoustic performance of particle filters have been examined by using one-dimensional acoustic analysis and experimental methods. First, the transfer matrix of a filter system connected to inlet and outlet pipes with conical sections is measured using a two-load method. Then, the transfer matrix of a particle filter only is extracted from the experiments by applying inverse matrices of the conical sections. In the analytical approaches, the one-dimensional acoustic model for the leakage between the filter and the housing is developed. The predicted transmission loss shows a good agreement with the experimental results. Compared to the baseline, the leakage between the filter and housing increases transmission loss at a certain frequency and its harmonics. In addition, the transmission loss for the system with a partially blocked filter is measured. The blockage of the filter also increases the transmission loss at higher frequencies. For the simplicity of experiments to identify the leakage and blockage, the reflection coefficients at the inlet of the filter system have been measured using two different downstream conditions: open pipe and highly absorptive terminations. The experiments show that with highly absorptive terminations, it is easier to see the difference between the baseline and the defects.


IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Bincheng Wen ◽  
Mingqing Xiao ◽  
Guanghao Wang ◽  
Zhao Yang ◽  
Jianfeng Li ◽  
...  

Author(s):  
Kejie Gong ◽  
Ying Liao ◽  
Yafei Mei

This article proposed an extended state observer (ESO)–based output feedback control scheme for rigid spacecraft pose tracking without velocity feedback, which accounts for inertial uncertainties, external disturbances, and control input constraints. In this research, the 6-DOF tracking error dynamics is described by the exponential coordinates on SE(3). A novel continuous finite-time ESO is proposed to estimate the velocity information and the compound disturbance, and the estimations are utilized in the control law design. The ESO ensures a finite-time uniform ultimately bounded stability of the observation states, which is proved utilizing the homogeneity method. A non-singular finite-time terminal sliding mode controller based on super-twisting technology is proposed, which would drive spacecraft tracking the desired states. The other two observer-based controllers are also proposed for comparison. The superiorities of the proposed control scheme are demonstrated by theory analyses and numerical simulations.


IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 4711-4725
Author(s):  
Xudong Zhang ◽  
Liang Zhao ◽  
Wei Zhong ◽  
Feng Gu

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