Guaranteed set-membership state estimation of an octorotor's position for radar applications

Abstract

In the context of state estimation of dynamical systems subject to bounded perturbations and measurement noises, this paper proposes an application of a guaranteed ellipsoidal-based set-membership state estimation technique to estimate the linear position of an octorotor used for radar applications. The size of the ellipsoidal set containing the real state is minimized at each sample time taking into account the measurements performed by the drone's sensors. Three case studies highlight the efficiency of the estimation technique in finding guaranteed bounds for the octorotor's linear position. The computed guaranteed bounds in the linear trajectory are exploited to find the maximum operating frequency of the radar, a necessary information in radar applications.