Uncertainty corridors for three-dimensional collision avoidance

Authors

• Nathan E. Smith, Air Force Institute of Technology
• Richard G. Cobb, Air Force Institute of Technology
• Scott J. Pierce, Air Force Institute of Technology
• Vincent M. Raska, Air Force Research Laboratory

Document Type

Article

Publication Date

6-2015

Abstract

This Note considers a collision-avoidance scenario based on a remotely piloted aircraft equipped with a sensor with a 1 Hz update rate and solves the optimal control problem over a fixed 30 s time horizon. The dynamics models consist of a five-state three-degree-offreedom nonlinear point mass model for the ownship, a five-state coordinated turn model for the intruder's horizontal stated, and a decoupled three-state Singer acceleration model for the intruder's vertical states. The observation model consists of relative range, range-rate, azimuth, and elevation measurements between the intruder and ownship that are nonlinear combinations of the state estimates. Based on these models, the particle filter then generates a point cloud distribution that represents the probability region for the intruder's position at each time step.

Comments

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DOI

10.2514/1.G000459

Source Publication

Journal of Guidance, Control, and Dynamics (ISSN 0731-5090 | eISSN 1533-3884)

Recommended Citation

Smith, N. E., Cobb, R. G., Pierce, S. J., & Raska, V. M. (2015). Uncertainty corridors for three-dimensional collision avoidance. Journal of Guidance, Control, and Dynamics, 38(6), 1156–1162. https://doi.org/10.2514/1.G000459