CONSTRAINED ZONOTOPE ENCLOSING A STATE REPRESENTING MOTION OF AT LEAST ONE MOBILE TARGET GOVERNED BY A NONLINEAR MODEL
Résumé
A method for estimating a constrained zonotope enclosing a motion state of at least one mobile target , the method including : a ) linearizing a nonlinear transition model at an element of a first zonotope ( Z ( tk -1 ) ) , b ) computing transi tion linearization errors at different elements of the first zonotope ( Z_ ( tk -1 ) ) , c ) computing a second zonotope that contains all linearization errors , d ) propagating ( 102) the first zonotope so as to obtain an a priori zonotope ( ? ( t ) )
enclosing the motion state at a second moment ( tz ) after the first moment ( tx -1 ) , wherein the a priori zonotope ( ? , ( t z ) ) is a linear projection of a hypercube , the hypercube being subject to at least one linear constraint , e ) updating ( 104) the a priori zonotope ( ? ( tx ) ) so as to obtain an a posteriori constrained zonotope ( Z-( tx ) ) enclosing the motion state at the second moment ( tz ) .