Robust Bearing Angle Error Estimation for Mobile Robots with a Gimballed Ultrasonic Seeker

Ui Suk Suh, Yunha Lee, Won Sang Ra, Tae Wook Kim

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper deals with the bearing angle error (BAE) estimation problem associated with a one-axis gimballed ultrasonic seeker, which can be used as a low-cost sensor for mobile robot applications. Under the assumptions that the target has an ultrasonic transmitter and the gimbal control loops work properly, the moving target tracking reduces to an estimation problem of a piecewise constant BAE using real sinusoids measured by a receiver array mounted on the gimbal. To effectively cope with the real-time implementation issue, our estimation problem is formulated using linear robust state estimation and is resolved using the constrained robust weighted least squares method. Through experimental results obtained from a hardware-in-the-loop simulation (HILS) approach, it is demonstrated that the proposed scheme provides more reliable and consistent estimation performance than existing approaches.

Original languageEnglish
Pages (from-to)5785-5795
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number7
Publication statusPublished - 2018 Jul

Bibliographical note

Funding Information:
Manuscript received May 8, 2017; revised August 18, 2017 and October 25, 2017; accepted October 26, 2017. Date of publication November 24, 2017; date of current version March 6, 2018. This work was supported in part by the National Research Foundation of Korea funded by the Ministry of Education (2016R1D1A3B03935616) and in part by the Ministry of Science and ICT (2014M1A3A3A02034806). (Corresponding author: Won-Sang Ra.) U.-S. Suh and T. W. Kim are with the Department of Electrical and Electronic Engineering, Yonsei University, Seoul 03722, South Korea (e-mail:;

Publisher Copyright:
© 1982-2012 IEEE.

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Robust Bearing Angle Error Estimation for Mobile Robots with a Gimballed Ultrasonic Seeker'. Together they form a unique fingerprint.

Cite this