| Adaptive unscented Kalman filter for estimation of modelling errors for helicopter | |
Song Q(宋崎); He YQ(何玉庆)
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| Department | 机器人学研究室 |
| Conference Name | 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
| Conference Date | December 19-23, 2009 |
| Conference Place | Guilin, China |
| Author of Source | IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong |
| Source Publication | 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO) |
| Publisher | IEEE Computer Society |
| Publication Place | Piscataway, NJ, USA |
| 2009 | |
| Pages | 2463-2467 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20101712895196 |
| WOS ID | WOS:000285530501213 |
| Contribution Rank | 1 |
| ISBN | 978-1-4244-4775-6 |
| Abstract | In order to overcome the drawback of the normal unscented Kalman filter (UKF) a novel adaptive UKF (AUKF) is developed and applied to nonlinear joint estimation of both time-varying states and modelling errors for helicopter. The filter is composed of two parallel master-slave UKFs, while the master UKF estimates the states/parameters and the slave one estimates the diagonal elements of the noise covariance matrix for the master UKF. Such a mechanism improves the adaptive ability of the UKF and enlarges its application scope. Simulations conducted on the dynamics of helicopter indicate that the performance of the adaptive UKF is superior to the standard one in terms of fast convergence and estimation accuracy. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/8547 |
| Collection | 机器人学研究室 |
| Affiliation | 1.Automation Department, Shenyang Institute of Aeronautical Engineering, 37# Daoyi South street, Shenyang, 110136, China 2.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, China |
| Recommended Citation GB/T 7714 | Song Q,He YQ. Adaptive unscented Kalman filter for estimation of modelling errors for helicopter[C]//IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong. Piscataway, NJ, USA:IEEE Computer Society,2009:2463-2467. |
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| File Name/Size | DocType | Version | Access | License | ||
| HYQW000221.pdf（113KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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