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Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D

Abstract : In this paper we consider the problem of tracking a maneuvering aircraft. The dynamical model used is based on assumptions of nearly constant tangential velocity, curvature, and torsion, of the target trajectory. Using the Frenet-Serret frame, that is, an element of the special orthogonal group SO(3) we cast the tracking problem into a filtering on Lie groups framework. We then use an invariant extended Kalman filter to estimate the various quantities involved. The resulting filter is simple to implement, and shown to gracefully accomodate some realistic target trajectories.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01570709
Contributor : Marion Pilté <>
Submitted on : Monday, July 31, 2017 - 3:05:37 PM
Last modification on : Thursday, September 24, 2020 - 5:04:02 PM

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  • HAL Id : hal-01570709, version 1

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Marion Pilté, Silvère Bonnabel, Frédéric Barbaresco. Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D. 2017. ⟨hal-01570709⟩

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