@inproceedings{688154a0899a40d7b2b80ecd2ed5c7ae,
title = "Airborne Vision Based Target Motion State Estimation for UAV Aerial Docking",
abstract = "This paper proposes a new target motion state estimation method for UAV aerial refueling and autonomous recovery. First, airborne vision measurement, airborne electro‐optical pod, and GPS information are fused to formulate a feasible target estimation model. The problems of unexpected outliers and inconsistent update frequency appearing in these different measurements are alleviated by leveraging multi-model and multi-rate extended Kalman filter algorithm, which can autonomously and optimally select and update the measurement model. Numerous flight experiments demonstrate that the proposed target estimation method has satisfactory accuracy and high robustness in complex interference environment.",
keywords = "Aerial docking, Airborne vision, GPS, Multi-model multi-rate Kalman filter, Target state estimation",
author = "Ruoxuan Li and Shaoming He and Tao Song and Hong Tao",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",
year = "2023",
doi = "10.1007/978-981-19-6613-2_427",
language = "English",
isbn = "9789811966125",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "4384--4395",
editor = "Liang Yan and Haibin Duan and Yimin Deng and Liang Yan",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control",
address = "Germany",
}