This article is cited in 28 papers

Stochastic Systems, Queuing Systems

Developing algorithms of object motion control on the basis of Kalman filtering of bearing-only measurements

A. B. Miller

Institute for Information Transmission Problems (Kharkevich Institute), Russian Academy of Sciences, Moscow, Russia

Abstract: Consideration was given to the problem of controlling the motion of an object subject to random disturbances. It was assumed that the bearings to beacons with certain coordinates are open to measurements. The bearing angles are nonlinear functions of the current coordinates. Therefore, the present paper suggested a modified method of pseudomeasurements proving bias-free estimates of the current object coordinates using the algorithm of conditionallyoptimal filtering. These estimates underlie the object control algorithm demonstrating the possibility of high-quality tracing of the given motion trajectory.

Presented by the member of Editorial Board: A. V. Nazin

Received: 19.02.2014

 English version: Automation and Remote Control, 2015, 76:6, 1018–1035

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