Advances in Estimation, Navigation, and Spacecraft Control: Selected Papers of the Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control PDF
Preview Advances in Estimation, Navigation, and Spacecraft Control: Selected Papers of the Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control
Daniel Choukroun Yaakov Oshman Julie Thienel Moshe Idan Editors Advances in Estimation, Navigation, and Spacecraft Control Selected Papers of the Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control 123 Advances in Estimation, Navigation, and Spacecraft Control · Daniel Choukroun Yaakov Oshman · Julie Thienel Moshe Idan Editors Advances in Estimation, Navigation, and Spacecraft Control Selected Papers of the Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control ABC Editors DanielChoukroun JulieThienel MechanicalEngineeringDepartment NASAGoddardSpaceFlightCenter Ben-GurionUniversityoftheNegev Greenbelt BeerSheva USA Israel MosheIdan YaakovOshman FacultyofAerospaceEngineering FacultyofAerospaceEngineering Technion-IsraelInstituteofTechnology Technion-IsraelInstituteofTechnology Haifa Haifa Israel Israel ISBN978-3-662-44784-0 ISBN978-3-662-44785-7 (eBook) DOI10.1007/978-3-662-44785-7 LibraryofCongressControlNumber:2014953108 SpringerHeidelbergNewYorkDordrechtLondon (cid:2)c Springer-VerlagBerlinHeidelberg2015 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbook arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade. Printedonacid-freepaper Springer-VerlagGmbHBerlinHeidelbergispartofSpringerScience+BusinessMedia (www.springer.com) Preface Background ItzhackY. Bar-Itzhack,professorEmeritusofAerospaceEngineeringatthe Tech- nion–IsraelInstituteofTechnology,wasaprominentandworld-renownedmember oftheappliedestimation,navigation,andspacecraftattitudedeterminationcommu- nities. Hetouchedthe livesofmany.Hehada loveforlife, anincrediblesense of humor,andwisdomthathesharedfreelywitheveryonehemet. TohonorProfessorBar-Itzhack’smemory,aswellashisnumerousseminalpro- fessional achievements, an international symposium was held in Haifa, Israel, on October14–17,2012,undertheauspicesoftheFacultyofAerospaceEngineering attheTechnionandtheIsraeliAssociationforAutomaticControl. VI Preface Itzhack YoavBar-Itzhack (1937-2007) Since receiving his Ph.D. degree in electrical engineering from the University of Pennsylvania in 1968, with a dissertation titled "Strapdown Inertial Navigation", Professor Bar-Itzhack had made seminal contributions to the art of Inertial and Aided Navigation Systems, and was one of the pioneers of the theory of strap- downInertialNavigationSystems(INS).Prof.Bar-Itzhackwasalsoadistinguished memberofaselectgroupofinternationalexpertsinthefieldofspacecraftattitude determination.Hepublishedextensivelyinthisarea,oftenwithNASAco-workers, covering problems of attitude and angular rates estimation from vector measure- ments,attitudedeterminationfromGPSmeasurements,andcombinedattitudeand orbitdetermination.ProfessorBar-Itzhackcontributedtothetheoryofappliedop- timalfilteringaswell,bydeveloping,withstudents,batch-recursivedatacompres- sion filters, and eigenfactor-based square root filters. Between 1968-1971 he was employedby Bellcomm Inc. in Washington DC, where he worked on the Apollo- project, analyzing the navigation system of the Lunar Roving Vehicle (LRV). In 1977-8, during his sabbatical, he served as a member of the technical staff at the AnalyticSciencesCorporation(TASC)in ReadingMA,wherehewasinvolvedin theImprovedAccuracyProgramontheTridentmissileguidancesystem.Prof.Bar- Itzhack also spent several sabbaticals and summers at the NASA Goddard Space Flight Center. There he was instrumental in developingthe first real time attitude filter foruse in the spacecraftcontrolcenterand he supportedthe developmentof attitudeestimationsystemsforseveralNASAspacecraft. ProfessorBar-Itzhackwasveryactiveinnationalandinternationalprofessional communities,serving,amongothers,asanInternationalAdvisorof theJournalof Guidance, Control, and Dynamics, a member of the AIAA Guidance, Navigation andControlTechnicalCommittee,andasaPresidentoftheIsraeliAssociationfor Automatic Control (national member organization of IFAC). He contributed im- menselytothesecurityofIsraelbysharingknowledgeandwisdomwiththeIsraeli MoDandwithIsraelidefenserelatedindustries,includingRafael-Advanceddefense Systems,Ltd.,IAI-IsraelAerospaceIndustries,Ltd.,andIMI-IsraelMilitaryIndus- tries,Ltd.AttheTechnion-IsraelInstituteofTechnology,heservedasDeanofthe FacultyofAerospaceEngineering,amongnumerousotherpositions. ProfessorBar-Itzhackgraduated33doctoralandmaster’sstudents,andpublished over80papersinmajorarchivaljournalsand140papersinconferenceproceedings. He received numerous professional honors, including the IEEE Third Millenium Award,theIEEEKershnerAward,theNASAExceptionalTechnologyAchievement Medal, and the NASA Goddard Space Flight Center Group Achievement Award. Along with two NASA colleagues, he was awarded a US patent in 2004 for an autonomous navigation system. He was a Fellow of AIAA "...in recognition of professional distinction and valuable contributions made to the arts, sciences and technologyofaeronauticsandastronautics,"andaFellowofIEEE"...forcontribu- tionstothedevelopmentofinertialnavigationsystem."Prof.Bar-Itzhackwascho- sen by the IEEE Aerospaceand ElectronicSystemsSociety to serve as a member Preface VII oftheDistinguishedLecturersProgram,withhistalkon"TheEvolutionofInertial Navigation." About theBook For the Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and SpacecraftControl, the InternationalProgram Committee conducteda formal reviewprocess.Eachpaperwasreviewedincompliancewithgoodjournalpractices byatleasttwoindependentandanonymousreviewers.Thepaperspublishedinthis bookwereselectedbasedontheresultsandrecommendationsfromthereviewers. Thebookcontains27selected,revised,andeditedcontributedchapterswrittenby eminentinternationalexperts.Thebookisorganizedinthreeparts:(1)Estimation, (2)Navigationand(3) SpacecraftGuidance,NavigationandControl. Thevolume was prepared as a reference for research scientists and practicing engineers from academyandindustryinthefieldsofestimation,navigation,andspacecraftGN&C. About theSymposium TheinternationalItzhackY.Bar-ItzhackMemorialSymposiumonEstimation,Nav- igation,andSpacecraftControl,chairedby • YaakovOshman(Technion-IsraelInstituteofTechnology) • JulieThienel(NASAGoddardSpaceFlightCenter) was held in Haifa, Israel, on October 14–17, 2012. Along this four days single- track event, attended by more than 100 participants, 50 talks were presented with contributors from 18 different countries. Six eminent experts from academy and industrydeliveredthefollowingkeynotetalksduringthetechnicalsessions: • MarkJ.Balas(Embry-RiddleAeronauticalUniversity) "TheBeautifulSimplicityofDirectAdaptiveControlinTheoryand(maybe)in Practice" • F.LandisMarkley(NASAGoddardSpaceFlightCenter) "IHaveSomeAttitudeIssues" • Mark.L.Psiaki(CornellUniversity) "SecuringCivilianGNSSServicesinthePresenceofJammingandSpoofing" • HectorP.Rotstein(Rafel-AdvancedDefenseSystems,Ltd.) "FOG,MEMS,andalltherest-SomethoughtsonInertialNavigation technologiesandalgorithms" • JasonL.Speyer(UniversityofCalifornia,LosAngeles) "StochasticEstimationandControlforLinearSystemswithCauchyNoise" andtwokeynotetalksweregivenduringasocialsessionattheGaladinner VIII Preface • DanielWeihs(Technion-IsraelInstituteofTechnology) "LearningEngineeringfromNature" • YoavMedan(Technion-IsraelInstituteofTechnology) "StarTrekSurgery-ScienceMeetsFiction" Acknowledgments Itisourpleasuretothankfortheirvaluableandpatientsupport • membersoftheNationalOrganizingCommittee: • Nadav Berman (Ben-Gurion University of the Negev; Prof. Berman, a dear friendandcolleaguepassedawayonApril11,2012) • Per-OlofGutman(Technion-IsraelInstituteofTechnology) • MosheIdan(Technion-IsraelInstituteofTechnology) • LeonidMirkin(Technion-IsraelInstituteofTechnology) • TalShima(Technion-IsraelInstituteofTechnology) • membersoftheInternationalProgramCommittee: • AmitAilon(Ben-GurionUniversityoftheNegev) • ZviArtstein(WeizmannInstituteofScience) • MarkJ.Balas(Embry-RiddleAeronauticalUniversity) • YaakovBar-Shalom(UniversityofConnecticut) • AnthonyJ.Calise(GeorgiaInstituteofTechnology) • AvishyCarmi(Ben-GurionUniversityoftheNegev) • DanielChoukroun(Ben-GurionUniversityoftheNegev) • JohnL.Crassidis(UniversityatBuffalo,SUNY) • BernardFriedland(NewJerseyInstituteofTechnology) • HariB.Hablani(IndianInstituteofTechnology,Bombay) • RichardR.Harman(NASAGoddardSpaceFlightCenter) • F.LandisMarkley(NASAGoddardSpaceFlightCenter) • MarkL.Psiaki(CornellUniversity) • IliaRapoport(ElbitSystems,Electro-OpticsELOP,Ltd.) • HectorP.Rotstein(Rafael-AdvancedDefenseSystems,Ltd.) • UriShaked(Tel-AvivUniversity) • JasonL.Speyer(UCLA) • Min-JeaTahk(KoreaAdvancedInstituteofScienceandTechnology) • HaimWeiss(Rafael-AdvancedDefenseSystems,Ltd.) • IsaacYaesh(IsraelMilitaryIndustries,Ltd.) • PaulZarchan(MITLincolnLaboratory) • allsymposiumparticipantsincludingspeakersandsessionschairs Preface IX The present book would not have been possible without the support and careful work of the international college of reviewers purposely nominated for this task. The quality of any scientific book is largely due to the will of reviewers to share theirexpertiseandknowledgewithunknowncolleaguesfromallovertheworld. Lastbutnotleastthanksareduetooursponsorswithoutwhichthesymposium wouldnothavetakenplace: • Technion-IsraelInstituteofTechnology • AIAAGuidanceNavigationandControlTechnicalCommittee • BernardM.GordonCenterforSystemsEngineeringattheTechnion • IMI-IsraelMilitaryIndustries,Ltd. • Rafael-AdvancedDefenseSystems,Ltd. • IAI,TamamDivision-IsraelAerospaceIndustries,Ltd. • European Office of Aerospace research and Development, Air Force Office of Scientificresearch,UnitedStatesAirForceResearchLaboratory • TechnionAutonomousSystemsProgram • IEEEIsrael TheEditors DanielChoukroun YaakovOshman JulieThienel MosheIdan Contents PartI:Estimation Steady-StateTimeConstantoftheKalmanFilter.................... 3 JosephEtzion Track-to-TrackFusioninLinearandNonlinearSystems ............. 21 XinTian,TingYuan,YaakovBar-Shalom StateDependentDifferenceRiccatiEquationBasedEstimationfor2D SpiralingTargetManeuver ...................................... 43 IlanRusnak,LiatPeled-Eitan AGuaranteedBoundFilterforPolynomialSystems ................. 65 GyörgyHexner,IlanRusnak,HaimWeiss Reference Basis Model Updating – Following the Baruch and Bar-ItzhackApproach .......................................... 79 YoramHalevi StochasticEstimationandControlforLinearSystemswithCauchy Noise......................................................... 95 JasonL.Speyer,MosheIdan,JavierFernández Planar-FeatureBased3DSLAM UsingRandomizedSigmaPoint KalmanFilters................................................. 119 CihanUlas,HakanTemeltas ANovelLinear,UnbiasedEstimatortoFuseDelayedMeasurements inDistributedSensorNetworkswithApplicationtoUAVFleet......... 135 RonanArraesJardimChagas,JacquesWaldmann HigherOrderSlidingModeControllerswithAdaptation ............. 159 DanielYitzjakNegrete-Chavez,LeonidM.Fridman
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