智能无人系统实验室E

Research Seminars

Bearing-Only Guidance and Estimation

date:2021-06-16

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简介:

何绍溟2019 年博士毕业于英国克兰菲尔德大学现任北京理工大学宇航学院副教授。主要从事飞行器制导、多目标跟踪与决策、人工智能在航空航天中的应用等方向研究围绕多约束条件下的最优制导以及复杂环境下的低成本多目标跟踪等前沿领域的基础性、共性关键科学与技术问题开展研究。以第一作者通讯作者在AIAA JGCD、IEEE TAES、IEEE TRO、IEEE TAC等期刊发表论文 20 余篇;在 Springer 出版飞行器最优制导专著 1 部;授权国家发明专利 3 项; 2017、2020 阿布扎比国际机器人比赛冠军 飞鹰 队核心成员;2020 年获得英国克兰菲尔德大学 Lord Kings Norton Medal(每年一人);入选 2020 年中国科协青年人才托举计划。

讲座摘要:

Small-scale robots, especially in aerial robotics, have been widely used and show great potentials in both civilian and military applications. The issue is that the operations of these small-scale aerial robots are constrained by limited payload, power, and endurance. This has led to proliferation of numerous lightweight, low-cost, and energy efficient onboard

sensors. However, since most low-cost and lightweight sensors are passive sensors, the utilization of these sensors in target localization usually suffers from the observability problem. This seminar discusses the problem of observability metric (geometry), observability enhancement guidance for target interception and pseudo-measurement Kalman filter for bearing-only measurements. We provide a geometric interpretation on how the relative geometry influences the system observability. A non-definite quadratic cost function that considers tradeoff among terminal miss distance, target observability and control effort is proposed for guidance law derivation. A pseudo-measurement Kalman filter will also be introduced to estimate target states that can improve the performance of Extended Kalman filter when the initialization is poor.

时间:2021年6月16日(周三)下午3:00-4:30

Time:16 June, Wednesday 2021, 3:00-4:30 PM

地点:西湖大学云栖校区2号楼315室

Venue: Room 315, 3F, Building 2, Yunqi Campus

主持人:西湖大学工学院PI 赵世钰

Host: Dr. Shiyu Zhao, PI of School of Engineering, Westlake University