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非线性卡尔曼滤波方法的实验比较
Alternative TitleExperimental 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
ISSN1001-0920
2014
Volume29Issue:8Pages:1387-1393
Indexed ByEI ; CSCD
EI Accession number20143700064505
CSCD IDCSCD:5216171
Contribution Rank1
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 AbstractNonlinearity 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
Identifierhttp://ir.sia.cn/handle/173321/15241
Collection机器人学研究室
Affiliation1.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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