Optimal 3-D guidance from a 2-D vision sensor

Yoko Watanabe, Eric N. Johnson, Anthony J. Calise

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Scopus citations

Abstract

This paper describes an optimal guidance policy for a vehicle to reach a relative position to a target, using information from a single fixed camera. Applying an extended Kalman filtering method, both of a velocity and a position of the vehicle relative to the target, can be estimated. However, estimates of a distance between the vehicle and the target are much worse than those of the other states. Therefore, in this paper, an optimal guidance policy is introduced that can reach the destination while maximizing the predicted accuracy of the range estimation. By limiting vehicle motion to a two dimensionals, the exact solution for control inputs for this optimization problem can be obtained. Simulation results show that the resulting optimal guidance policy gives far more accurate range estimation than a simple linear guidance policy.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages319-328
Number of pages10
ISBN (Print)1563476703, 9781563476709
DOIs
StatePublished - 2004
EventCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference - Providence, RI, United States
Duration: Aug 16 2004Aug 19 2004

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
Volume1

Other

OtherCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
CountryUnited States
CityProvidence, RI
Period8/16/048/19/04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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