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Experimental investigation and comparison of nonlinear Kalman filters
Zhou YJ(周楹君); Gu F(谷丰); He YQ(何玉庆); Han JD(韩建达)
作者部门机器人学研究室
关键词Algorithms Extended Kalman Filters
发表期刊Sensors & Transducers
ISSN2306-8515
2013
卷号21期号:SPEC.ISS.5页码:175-181
收录类别EI
EI收录号20133016535784
产权排序1
摘要

One of the most important problems when designing controller is how to deal with all kinds of uncertainties, which, along with the high nonlinearities of most real systems, makes it difficult to guarantee the desired closed loop performance. Recently, nonlinear Kalman-class filter has been extensively researched and several well-known algorithms, including Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Adaptive Unscented Kalman Filter (AUKF), have been reported to be applicable in some cases. In this paper, on the basis of the moving target cooperative observation problem, performances of these nonlinear filter algorithms are analyzed and tested on a multi-flying-robot testbed, and the experimental results are listed to show the advantages and disadvantages of them.

语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/12552
专题机器人学研究室
通讯作者Zhou YJ(周楹君)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Zhou YJ,Gu F,He YQ,et al. Experimental investigation and comparison of nonlinear Kalman filters[J]. Sensors & Transducers,2013,21(SPEC.ISS.5):175-181.
APA Zhou YJ,Gu F,He YQ,&Han JD.(2013).Experimental investigation and comparison of nonlinear Kalman filters.Sensors & Transducers,21(SPEC.ISS.5),175-181.
MLA Zhou YJ,et al."Experimental investigation and comparison of nonlinear Kalman filters".Sensors & Transducers 21.SPEC.ISS.5(2013):175-181.
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