基于变分位姿估计的固定翼飞机UAV的GPS拒绝相对运动估计
GPS-Denied Relative Motion Estimation For Fixed-Wing UAV Using the Variational Pose Estimator
摘要：
针对固定翼无人机之间的相对位姿估计问题，提出了一种稳定、鲁棒的估计方法。该方案的激励应用是在GPS拒绝的环境中使用机载传感器将被跟踪的对象从一个固定翼UAV“切换”到一组UAV中的另一个。该估计方案使用来自车载相机的光学测量来估计另一车辆或目标对象的相对姿态和相对速度。它是通过将拉格朗日-达朗贝尔原理应用于仅使用光学测量的测量残差构造的拉格朗日量而获得的。该非线性姿态估计方案被离散化以用于使用离散拉格朗日-达朗贝尔原理的计算机实现，其中离散时间线性滤波用于从光学测量获得相对速度估计。计算机模拟描绘的稳定性和鲁棒性的估计噪声测量和初始相对姿态和速度的不确定性。
英文摘要：
Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one fixed-wing UAV to another in a team of UAVs, using onboard sensors in a GPS-denied environment. This estimation scheme uses optical measurements from cameras onboard a vehicle, to estimate both the relative pose and relative velocities of another vehicle or target object. It is obtained by applying the Lagrange-d'Alembert principle to a Lagrangian constructed from measurement residuals using only the optical measurements. This nonlinear pose estimation scheme is discretized for computer implementation using the discrete Lagrange-d'Alembert principle, with a discrete-time linear filter for obtaining relative velocity estimates from optical measurements. Computer simulations depict the stability and robustness of this estimator to noisy measurements and uncertainties in initial relative pose and velocities.
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