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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)
Department机器人学研究室
Source PublicationSensors & Transducers
ISSN2306-8515
2013
Volume21Issue:SPEC.ISS.5Pages:175-181
Indexed ByEI
EI Accession number20133016535784
Contribution Rank1
KeywordAlgorithms Extended Kalman Filters
Abstract

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.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/12552
Collection机器人学研究室
Corresponding AuthorZhou YJ(周楹君)
Affiliation1.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
Recommended Citation
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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