pages_top_content_img_9.jpg
 Logo_JS18_Copie_3.jpg

Géolocalisation et navigation

28-29 mars, 2018
Observatoire de Paris

Site de Meudon

Invariant Extended Kalman Filter for target tracking
Marion Pilté  1, 2, *@  , Frederic Barbaresco  3@  , Silvère Bonnabel  2@  
1 : Thales Air Systems
Thales Air Systems
2 : École des Mines de Paris  -  Site web
Ministère de l'Economie, des Finances et de l'Industrie
60 boulevard Saint-Michel - 75272 Paris Cedex 06 -  France
3 : THALES AIR SYSTEMS  (TAS)  -  Site web
THALES
Voie Pierre-Gilles de Gennes, F91470 Limours -  France
* : Auteur correspondant

A 3D target model expressed in intrinsic coordinates will be developed in this article. The frame used is the Frenet-Serret frame, that is a practical frame to represent the commands a pilot can have on his aircraft for instance. A quite accurate description of the possible motions of an aircraft is to assume the commands are piecewise constant. Once the target model is derived, a filtering algorithm is needed to perform state estimation. As the target model is not expressed in a vectorial space, but rather in a Lie group setting, a novel algorithm, based on results from the inertial navigation field has to be established. This new filter is called the Invariant Extended Kalman Filter (IEKF).


Personnes connectées : 1