Second-order divided difference filter for vision-based relative navigation

作者：Wang Xiao Gang^*; Cui Nai Gang; Guo Ji Feng

来源：Journal of Harbin Institute of Technology, 2011, 18(3): 16-20.

• Accurate estimation
• Angular rate measurements
• Attitude error
• Attitude representation
• Divided difference filter
• Faster convergence
• Formation flight
• Initial conditions
• Line of Sight
• Multidimensional interpolations
• Non-linear transformations
• Relative motion equations
• Relative navigation
• Relative positions
• Second orders
• Simulation result
• Vision based
• Vision sensor
• Vision sensors

A second-order divided difference filter (SDDF) is derived for integrating line of sight measurement from vision sensor with acceleration and angular rate measurements of the follower to estimate the precise relative position, velocity and attitude of two unmanned aerial vehicles (UAVs). The second-order divided difference filter which makes use of multidimensional interpolation formulations to approximate the nonlinear transformations could achieve more accurate estimation and faster convergence from inaccurate initial conditions than standard extended Kalman filter. The filter formulation is based on relative motion equations. The global attitude parameterization is given by quarternion, while a generalized three-dimensional attitude representation is used to define the local attitude error. Simulation results are shown to compare the performance of the second-order divided difference filter with a standard extended Kalman filter approach.

• 出版日期2011