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Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D
2017
2017 IEEE 56th Annual Conference on Decision and Control (CDC)
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
doi:10.1109/cdc.2017.8263937
dblp:conf/cdc/PilteBB17
fatcat:saprcu7n2vafzkylasgbpsirkm