Fast estimation for range identification in the presence of unknown motion parameters

Lili Ma; Chengyu Cao; Naira Hovakimyan; Craig Woolsey; Warren E. Dixon

doi:10.1093/imamat/hxq008

Fast estimation for range identification in the presence of unknown motion parameters

Lili Ma, Chengyu Cao, Naira Hovakimyan, Craig Woolsey, Warren E. Dixon

Research output: Contribution to journal › Article › peer-review

Abstract

A fast estimator is proposed and applied to the problem of range identification in the presence of unknown motion parameters. Assuming a rigid-body motion with unknown constant rotational parameters but known translational parameters, estimation of the unknown parameters is achieved by a fast estimator, followed by recursive least square extraction. The results are also extended to the case of an affine motion. Simulations demonstrate the superior performance of fast estimation in comparison to an identifier-based observer.

Original language	English (US)
Pages (from-to)	165-189
Number of pages	25
Journal	IMA Journal of Applied Mathematics (Institute of Mathematics and Its Applications)
Volume	75
Issue number	2
DOIs	https://doi.org/10.1093/imamat/hxq008
State	Published - Apr 2010

Keywords

Affine motion
Fast estimator
Range identification
Rigid-body motion

ASJC Scopus subject areas

Applied Mathematics

Online availability

10.1093/imamat/hxq008

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title = "Fast estimation for range identification in the presence of unknown motion parameters",

abstract = "A fast estimator is proposed and applied to the problem of range identification in the presence of unknown motion parameters. Assuming a rigid-body motion with unknown constant rotational parameters but known translational parameters, estimation of the unknown parameters is achieved by a fast estimator, followed by recursive least square extraction. The results are also extended to the case of an affine motion. Simulations demonstrate the superior performance of fast estimation in comparison to an identifier-based observer.",

keywords = "Affine motion, Fast estimator, Range identification, Rigid-body motion",

author = "Lili Ma and Chengyu Cao and Naira Hovakimyan and Craig Woolsey and Dixon, {Warren E.}",

note = "Funding Information: Army Research Office (#W911NF-06-1-0330); Office of Naval Research (#N00014-06-1-0801); Air Force Office of Scientific Research Multidisciplinary University Research Initiative subcontract (F49620-03-1-0401).",

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AU - Ma, Lili

AU - Cao, Chengyu

AU - Hovakimyan, Naira

AU - Woolsey, Craig

AU - Dixon, Warren E.

N1 - Funding Information: Army Research Office (#W911NF-06-1-0330); Office of Naval Research (#N00014-06-1-0801); Air Force Office of Scientific Research Multidisciplinary University Research Initiative subcontract (F49620-03-1-0401).

PY - 2010/4

Y1 - 2010/4

N2 - A fast estimator is proposed and applied to the problem of range identification in the presence of unknown motion parameters. Assuming a rigid-body motion with unknown constant rotational parameters but known translational parameters, estimation of the unknown parameters is achieved by a fast estimator, followed by recursive least square extraction. The results are also extended to the case of an affine motion. Simulations demonstrate the superior performance of fast estimation in comparison to an identifier-based observer.

AB - A fast estimator is proposed and applied to the problem of range identification in the presence of unknown motion parameters. Assuming a rigid-body motion with unknown constant rotational parameters but known translational parameters, estimation of the unknown parameters is achieved by a fast estimator, followed by recursive least square extraction. The results are also extended to the case of an affine motion. Simulations demonstrate the superior performance of fast estimation in comparison to an identifier-based observer.

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KW - Fast estimator

KW - Range identification

KW - Rigid-body motion

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Fast estimation for range identification in the presence of unknown motion parameters

Abstract

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