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Developing algorithms of object motion control on the basis of Kalman filtering of bearing-only measurements

  • Stochastic Systems, Queueing Systems
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Abstract

Consideration was given to the problem of controlling the motion of an object subject to random disturbances. It was assumed that the bearings to beacons with certain coordinates are open to measurements. The bearing angles are nonlinear functions of the current coordinates. Therefore, the present paper suggested a modified method of pseudomeasurements proving bias-free estimates of the current object coordinates using the algorithm of conditionallyoptimal filtering. These estimates underlie the object control algorithm demonstrating the possibility of high-quality tracing of the given motion trajectory.

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Authors and Affiliations

  1. Institute for Information Transmission Problems (Kharkevich Institute), Russian Academy of Sciences, Moscow, Russia

    A. B. Miller

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  1. A. B. Miller
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Correspondence to A. B. Miller.

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Original Russian Text © A.B. Miller, 2015, published in Avtomatika i Telemekhanika, 2015, No. 6, pp. 91–111.

This paper was recommended for publication by A.V. Nazin, a member of the Editorial Board

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Miller, A.B. Developing algorithms of object motion control on the basis of Kalman filtering of bearing-only measurements. Autom Remote Control 76, 1018–1035 (2015). https://doi.org/10.1134/S0005117915060065

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  • DOI: https://doi.org/10.1134/S0005117915060065

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