Related Experiment Video
Updated: May 28, 2026
06:45
Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
Published on: October 28, 2022
Robust Pose and Inertial Parameter Estimation of an Unknown Aircraft Based on Variational Bayesian Dual Vector
Shengli Xu1, Yangwang Fang1, Hanqiao Huang1
1Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an 710072, China.
Entropy (Basel, Switzerland)
|May 26, 2026
Summary
Accurately determining spacecraft parameters is vital. A new Variational Bayesian Dual Vector Quaternion Extended Kalman Filter (VB-DVQEKF) enhances estimation accuracy and robustness against measurement uncertainties and anomalies.
Area of Science:
- Aerospace Engineering
- Robotics
- Control Systems
Background:
- Accurate parameter estimation is critical for unmodeled spacecraft.
- Existing methods may struggle with uncertainty and coupled motions.
Purpose of the Study:
- To develop a robust parameter estimation method for non-cooperative spacecraft.
- To enhance accuracy and resilience to measurement anomalies.
Main Methods:
- Introduced a Variational Bayesian Dual Vector Quaternion Extended Kalman Filter (VB-DVQEKF).
- Utilized dual vector quaternions for concise modeling of kinematics and dynamics.
- Incorporated variational Bayesian inference for simultaneous state and noise covariance estimation.
Main Results:
- VB-DVQEKF demonstrated superior performance compared to conventional DVQ-EKF and SH-DVQEKF.
- Achieved the smallest steady-state error and faster convergence.
- Showed stability under various measurement anomalies like white-burst, drift, and outliers.
Conclusions:
- The VB-DVQEKF offers a reliable solution for spacecraft parameter estimation.
- The method effectively handles coupled translational-rotational dynamics and measurement uncertainties.
- Proven robustness makes it suitable for real-world non-cooperative scenarios.
Related Concept Videos
01:30Kinematic Equations for Rotation
In mechanics, when one observes a rigid body in rotational motion with constant angular acceleration, it is possible to establish equations for its rotational kinematics. This process resembles how linear kinematics are dealt with in simpler motion studies.
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
For instance, imagine a point A on a rigid body engaged in circular motion. The translational velocity of this particular point can be calculated by taking the time derivatives of the displacement equation, which essentially measures the...
01:17Kinematic Equations - II
The second kinematic equation expresses the final position of an object in terms of its initial position, the distance traveled with the initial constant velocity, and the distance traveled due to a change in velocity. Similar to the first kinematic equation, this equation is also only valid when the acceleration is constant throughout the motion of an object.
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
Suppose a car merges into freeway traffic on a 200 m long ramp. If its initial velocity is 10 m/s and it accelerates at 2 m/s2, then the...
01:18Kinematic Equations - III
The first two kinematic equations have time as a variable, but the third kinematic equation is independent of time. This equation expresses final velocity as a function of the acceleration and distance over which it acts. The fourth kinematic equation does not have an acceleration term and provides the final position of the object at time t in terms of the initial and final velocities. This equation is useful when the value of the constant acceleration is unknown.
Using the kinematic equations,...
Using the kinematic equations,...
01:29Application of Linearization and Approximation
A drone flying through complex terrain often relies on more than one sensing method to estimate small changes in altitude. Along with direct measurements, air pressure provides a useful indirect indicator of vertical movement. Atmospheric pressure decreases as altitude increases, and this relationship is commonly described using an exponential model. Although accurate, converting pressure measurements into altitude values requires calculations that are too complex to perform repeatedly during...
01:15Kinematic Equations: Problem Solving
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
01:26Kinematic Equations - I
When an object moves with constant acceleration, the velocity of the object changes at a constant rate throughout the motion. The kinematic equations of motions are derived for such cases where the acceleration of the object is constant. The first kinematic equation gives an insight into the relationship between velocity, acceleration, and time. We can see, for example: