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

Marion Pilte, Silvere Bonnabel, Frederic Barbaresco
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
more » ... implement, and shown to gracefully accomodate some realistic target trajectories.
doi:10.1109/cdc.2017.8263937 dblp:conf/cdc/PilteBB17 fatcat:saprcu7n2vafzkylasgbpsirkm