Terminal height estimation using a Fading Gaussian Deterministic filter

Angelis, De; Ferrarese, Gastone; Giulietti, Fabrizio; Modenini, Dario; Tortora, Paolo

doi:10.1016/j.ast.2016.06.013

Cited by 12 publications

(5 citation statements)

References 5 publications

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“…k , re-evaluating the residuals and partial derivatives, Eqs. ( 9)- (10). Note that, in a standard IEKF, only the measurement matrix H k is updated along iterations, while here the transition matrix as well.…”

Section: Solution To the Nonlinear Minimization Problemmentioning

confidence: 99%

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Retrodictor–Corrector Filter

Modenini

Zannoni

Tortora

2017

Journal of Guidance, Control, and Dynamics

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Nonlinear ltering of dynamical systems is an extensively studied problem, usually tackled extending the well-established optimality results existing for linear systems, i.e. the Kalman lter, in the realm of nonlinear functions. The approaches are numerous [1], starting from the early developed linearized Kalman lter and extended Kalman lter (EKF), soon rened to attain better performance in case of severe nonlinearities. Some methods retain higher order derivatives as with the second order EKF, others rely on iterative linearization. This last concept was most often applied to the measurement equation, leading to the iterated extended Kalman lter (IEKF), which improves upon the EKF by iterating the nonlinear measurement update equation through a re-linearization about the updated state estimate, while retaining the time update step equal to the EKF one. The application of the re-linearization technique to handle also nonlinear dynamics received apparently less attention. An early example is represented by a single stage iterated lter/smoother (SSIFS), proposed by Wishner et al. in [2], which embeds a smoothing step within the lter to improve the past estimate when a new measurement is processed. The smoothed estimate is then used as a starting point to re-linearize the prediction step for the ltering stage. This concept was more recently generalized and merged with a moving window batch lter by Psiaki with his backward smoothing extended Kalman lter (BSEKF) [3], allowing the smoothing process to run into the past for more than one stage. Such a combined lter-smoother was shown to outperform both the EKF and the unscented Kalman lter (UKF) in a spacecraft attitude estimation problem. This

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Section: Solution To the Nonlinear Minimization Problemmentioning

confidence: 99%

“…In a deterministic framework, compensation of modeling errors is achieved by reducing the lter memory length and/or applying a fading factor which progressively de-weights older residuals in the build-up of the cost function [9]. Such a technique was proven to work eectively in a linear height estimation problem [10].…”

Section: The Deterministic Casementioning

confidence: 99%

Retrodictor–Corrector Filter

Modenini

Zannoni

Tortora

2017

Journal of Guidance, Control, and Dynamics

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“…In a recent work by one of the authors of the present paper [28], a method is presented to estimate swing angles in multirotor applications, with no need to rely on extra sensors, except for the available accelerometers. Sensor readings and dynamic model information are combined by a Fading Gaussian Deterministic Filter (FGDF), based on a recursive linear formulation derived in [29]. The approach is validated by numerical simulations and filter performance is measured and optimized in the presence of model uncertainties and measurement errors.…”

Section: Introductionmentioning

confidence: 99%

An Improved Method for Swing State Estimation in Multirotor Slung Load Applications

de Angelis,

Giulietti

2023

Drones

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A method is proposed to estimate the swing state of a suspended payload in multirotor drone delivery scenarios. Starting from the equations of motion of the coupled slung load system, defined by two point masses interconnected by a rigid link, a recursive algorithm is developed to estimate cable swing angle and rate from acceleration measurements available from an onboard Inertial Measurement Unit, without the need for extra sensors. The estimation problem is addressed according to the Extended Kalman Filter structure. With respect to the classical linear formulation, the proposed approach allows for improved estimation accuracy in both stationary and maneuvering flight. As an additional contribution, filter performance is enhanced by accounting for aerodynamic disturbance force, which largely affects the estimation accuracy in windy flight conditions. The validity of the proposed methodology is demonstrated as follows. First, it is applied to an octarotor platform where propellers are modeled according to blade element theory and the load is suspended by an elastic cable. Numerical simulations show that estimated swing angle and rate represent suitable feedback variables for payload stabilization, with benefits on flying qualities and energy demand. The algorithm is finally implemented on a small-scale quadrotor and is investigated through an outdoor experimental campaign, thus proving the effectiveness of the approach in a real application scenario.

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“…Regulatory authorities allow only for Visual-Line-of-Sight (VLOS) operations. Nonetheless, the possibility of Beyond-Visual-Line-of-Sight (BVLOS) operations has been studied and demonstrated in tests performed by industry and academia, thanks to the combined use of advanced control systems and filtering techniques [2,3], where virtual and augmented reality can be adopted to increase the level of situational awareness of a remote pilot [4]. Demanding autonomous tasks, such as the use of a fleet of autonomous vehicles, with collision avoidance capabilities, have also been studied [5].…”

Section: Introductionmentioning

confidence: 99%

Optimal Sizing of Electric Multirotor Configurations

et al. 2018

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A sizing tool for the definition of the configuration of electrically powered multirotor platforms is developed, which accounts for a realistic battery discharge model. The tool is developed to provide the community with the possibility of deriving the best configuration for performing a given task, while accounting for specific constraints and performance requirements. An evolutionary algorithm is used for searching the design space and to identify feasible designs with optimal performance in terms of maximum hovering time on the target and payload weight fraction.

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Terminal height estimation using a Fading Gaussian Deterministic filter

Cited by 12 publications

References 5 publications

Retrodictor–Corrector Filter

Retrodictor–Corrector Filter

An Improved Method for Swing State Estimation in Multirotor Slung Load Applications

Optimal Sizing of Electric Multirotor Configurations

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