지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2024.6
- 수록면
- 643 - 649 (7page)
- DOI
- 10.5302/J.ICROS.2024.23.8007
이용수
초록· 키워드
오류제보하기
This paper proposes a method for tracking vessel positions using an interacting multiple model approach based on Lie theory in 3-sphere space. Attitude increments and errors are evaluated and corrected using Lie algebra, as well as exponential and logarithmic operations. The covariance of attitudes is appropriately represented in Lie algebra. The proposed method is compared with two methods, i.e., the unscented Kalman filter (UKF) in which the attitude is represented by a unit quaternion (quaternion-utilizing UKF) and the UKF with a single model that uses Lie theory (Lie theory-incorporating UKF). The quaternion-utilizing UKF represents the attitude using quaternions without incorporating Lie theory, whereas the Lie theory-incorporating UKF represents the attitude as a unit quaternion and utilizes Lie theory. The comparisons indicate that the proposed method effectively reduces tracking errors. Additionally, the proposed method adapts to changes in maneuvering conditions using optimized model probabilities, ensuring timely and appropriate responses. The robustness and effectiveness of the proposed method in various maneuvering scenarios demonstrate its potential for enhancing vessel tracking accuracy in real-world applications.
목차
Abstract
I. 서론
II. IMM에 사용한 Lie theory 기반 모델과 필터 설계
III. IMM을 사용한 3구 공간에서의 선박 위치 추적
IV. 시뮬레이션 테스트 및 결과
V. 결론
REFERENCES
참고문헌 (26)
참고문헌 신청
C. Huang, Z. Li, H. An, Z. Sun, J. Wu, and J. Yang, “Passive multistatic radar imaging of vessel target using GNSS satellites of opportunity,” IEEE Transactions on Geoscience and Remote Sensing, vol. 60, pp. 1-16, Aug. 2022.
P. Mizythras, C. Pollalis, E. Boulougouris, and G. Theotokatos, “A novel decision support methodology for oceangoing vessel collision avoidance,” Ocean Engineering, vol. 230, 109004, Jun. 2021.
Y. Hu, X. Meng, Q. Zhang, and G.-K. Park, “A real-time collision avoidance system for autonomous surface vessel using fuzzy logic,” IEEE Access, vol. 8, pp. 108835-108846, Jun. 2020.
J. Wehbeh and I. Sharf, “Geometric MPC techniques for reduced attitude control on quadrotors with bidirectional thrust,” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, pp. 12330-12335, 2022.
J. Solà, J. Deray, and D. Atchuthan, “A micro Lie theory for state estimation in robotics,” arXiv, arXiv:1812.01537, 2018.
P. Mizythras, C. Pollalis, E. Boulougouris, and G. Theotokatos, “A novel decision support methodology for oceangoing vessel collision avoidance,” Ocean Engineering, vol. 230, 109004, Jun. 2021.
Y. Hu, X. Meng, Q. Zhang, and G.-K. Park, “A real-time collision avoidance system for autonomous surface vessel using fuzzy logic,” IEEE Access, vol. 8, pp. 108835-108846, Jun. 2020.
J. Wehbeh and I. Sharf, “Geometric MPC techniques for reduced attitude control on quadrotors with bidirectional thrust,” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, pp. 12330-12335, 2022.
J. Solà, J. Deray, and D. Atchuthan, “A micro Lie theory for state estimation in robotics,” arXiv, arXiv:1812.01537, 2018.
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