Nonlinear Kinematics for Improved Helicopter Tracking

Clark, EJ, Griffith, EJ ORCID: 0000-0001-9360-381X, Maskell, S ORCID: 0000-0003-1917-2913 and Ralph, JF ORCID: 0000-0002-4946-9948 (2017) Nonlinear Kinematics for Improved Helicopter Tracking. In: 2017 20th International Conference on Information Fusion (Fusion), 2017-7-10 - 2017-7-13, Xi'an, China.

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Abstract

This paper compares the tracking performance that can be achieved when using a nonlinear drag model for a helicopter, a constant drag motion model, and a baseline constant acceleration model. A particle filter is used for state estimation to address problems associated with nonlinear drag and nonlinear measurements of helicopter pose. We demonstrate that the inclusion of this nonlinear kinematic effect provides improved tracking performance for a manoeuvring target.

Item Type:	Conference or Workshop Item (Unspecified)
Uncontrolled Keywords:	Target tracking, State estimation, Helicopter motion model, Particle filters
Depositing User:	Symplectic Admin
Date Deposited:	24 Aug 2017 09:27
Last Modified:	19 Jan 2023 06:56
DOI:	10.23919/icif.2017.8009761
Related URLs:	Author Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3009119