Adaptive model architecture and extended Kalman-Bucy filters

In radar systems, extended Kalman-Bucy filters (EKBFs) are used to estimate state vectors of objects in track. Filter models accounting for fundamental aerodynamic forces on reentry vehicles are well known. A general model structure accommodating the dynamics of reentry vehicles in both exoatmospheric and endoatmospheric flight is presented. The associated EKBFs for these various models are described and the resulting associated parameter estimation and identification problems are discussed. The effects of position, velocity, drag, and aerodynamic lift are described within a nested set of EKBF models     

Synergism of binocular and motion stereo for passive ranging

Range measurements to objects in the world relative to mobile platforms such as ground or air vehicles are critical for visually aided navigation and obstacle detection/avoidance. An approach is presented that consists of a synergistic combination of two types of passive ranging method: binocular stereo and motion stereo. We show a new way to model the errors in binocular and motion stereo in conjunction with an inertial navigation system (INS) and derive the appropriate Kalman filter to refine the estimates from these two stereo ranging techniques. We present results using laboratory images that show that refined estimates can be optimally combined to give range values which are more accurate than any one of the individual estimates from binocular and motion stereo. By incorporating a blending filter, the approach has the potential of providing accurate, dense range measurements for all the pixels in the field of view (FOV)     

Tracking of DABS-Equipped Aircraft

The Discrete Address Beacon System (DABS) is scheduled to replace the Air Traffic Control Beacon System (ATCRBS) as the prime sensing tool for air traffic control in the 1980's. The design of DABS requires knowledge of the tracking accuracy obtainable as a function of various system parameters. In particular, the potential value of air-to-ground telemetry of turn-rate data and its effect on intermittent positive control (IPC) must be assessed. The design of DABS tracking algorithms is discussed, and the results obtained with a Kalman tracker simulation are given. The major finding is that turn-rate telemetry of moderate accuracy can improve tracking by a factor of 6 to 10.     

Computation of Optimal Earth-Mars and Earth-Venus Trajectories

Accurate solutions of minimal time Earth-Mars and Earth-Venus heliocentric trajectories are calculated with a shooting-Newton method. The flight times are less and the steering histories are diferent than those presented in [1], thus contradicting the optimality claims in [1].     

MMAE-Based Control with Space-Time Point Process Observations

A multiple model adaptive estimator (MMAE) has been formulated to estimate the state of a dynamic system modeled by a linear stochastic differential equation, from which measurements, described as a noise-corrupted space-time point process functionally related to that state, are extracted. Assumed certainty equivalence is used to combine such an estimator with the LQ full-state feedback controller to synthesize a practical, implementable controller. Performance of the estimator and resultant controller characteristics are investigated via simulation as a function of approximation method used to limit the full-scale estimator to finite dimensionality and also as a function of important parameters defining the dynamics and observation processes.