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题名: Optimal sensors deployment for tracking level curve based on posterior Cramr-Rao lower bound in scalar field
作者: Zhao WT(赵文涛); Yu JC(俞建成); Zhang AQ(张艾群); Li Y(李岩)
作者部门: 水下机器人研究室
会议名称: The 7th International Conference on Intelligent Robotics and Application (ICIRA2014)
会议日期: December 17-20, 2014.
会议地点: Guangzhou, China
会议主办者: South China University of Technology, China
会议录: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
会议录出版者: Springer Verlag
会议录出版地: Berlin
出版日期: 2014
页码: 129-141
收录类别: EI ; CPCI(ISTP)
ISSN号: 0302-9743
ISBN号: 978-3-319-13965-4
关键词: Adaptive space distance algorithm ; Posterior Cramér-Rao Lower Bound (PCRLB) ; Gliders cooperation ; Feature tracking ; Level curve
摘要: This paper focuses on discussing the space distance of gliders in a group for level curve tracking task. A developed adaptive space distance algorithm for glider formation based on Posterior Cramér-Rao Lower Bound (PCRLB) is proposed. For a feature-tracking application with scalar sensors, gliders are adopted to track a level curve in 2D space. In this work, the white noise from the measurement process and oceanic background is taken into account, as well as the effect of omitting the higher order terms in the Taylor series and roughly estimated Hessian Matrix. Since the PCRLB is an effective criterion to quantify the performance of all unbiased nonlinear estimators of the target state, our adaptive space distance algorithm for gliders may be functional when implemented with many kinds of nonlinear filters together. Finally, the performance of the proposed algorithm in this study is evaluated on simulated platforms by applying it with the Extended Kalman Filter(EKF) and Particle Filter.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15317
Appears in Collections:水下机器人研究室_会议论文

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