| 非线性卡尔曼滤波方法的实验比较 | |
| Alternative Title | Experimental investigation and comparison of nonlinear Kalman filters |
谷丰 ; 周楹君; 何玉庆; 韩建达
| |
| Department | 机器人学研究室 |
| Source Publication | 控制与决策
 |
| ISSN | 1001-0920 |
| 2014 | |
| Volume | 29Issue:8Pages:1387-1393 |
| Indexed By | EI ; CSCD |
| EI Accession number | 20143700064505 |
| CSCD ID | CSCD:5216171 |
| Contribution Rank | 1 |
| Funding Organization | 国家自然科学基金青年科学基金项目(61203340). |
| Keyword | 非线性卡尔曼滤波 性能比较 动态目标跟踪 飞行机器人 |
| Abstract | 实际系统中存在的非线性因素和不确定性是实时状态测量以及不确定性估计算法需要解决的重要问题。以机器人系统中典型的动态目标观测问题为背景，采用多飞行机器人实验平台，分别针对EKF、UKF以及基于MIT规则的AUKF方法进行实验研究，并比较了上述方法的计算速度及估计精度等性能。最后，根据实验结果并结合其原理分析了每种方法的特性。 |
| Other Abstract | Nonlinearity and uncertainty are the two most common features of real mechatronics systems. Therefore, the performance of extended Kalman filter(EKF), unscented-KF(UKF), and adaptive unscented-KF(AUKF) are compared by the extensive experiments on a multi-flying-robot test-bed, and with the same scenario of moving target tracking. The experimental results are analyzed with quantitation to show the effectiveness of the three KFs while facing nonlinearity and uncertainties. |
| Language | 中文 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.sia.cn/handle/173321/15241 |
| Collection | 机器人学研究室 |
| Affiliation | 1.中国科学院沈阳自动化研究所机器人学国家重点实验室 2.中国科学院大学 |
| Recommended Citation GB/T 7714 | 谷丰,周楹君,何玉庆,等. 非线性卡尔曼滤波方法的实验比较[J]. 控制与决策,2014,29(8):1387-1393. |
| APA | 谷丰,周楹君,何玉庆,&韩建达.(2014).非线性卡尔曼滤波方法的实验比较.控制与决策,29(8),1387-1393. |
| MLA | 谷丰,et al."非线性卡尔曼滤波方法的实验比较".控制与决策 29.8(2014):1387-1393. |
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| 非线性卡尔曼滤波方法的实验比较.pdf（3113KB） | 开放获取 | CC BY-NC-SA | View Download | |||
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