SIA OpenIR  > 机器人学研究室
Adaptive unscented Kalman filter for estimation of modelling errors for helicopter
Song Q(宋崎); He YQ(何玉庆)
作者部门机器人学研究室
会议名称2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期December 19-23, 2009
会议地点Guilin, China
会议主办者IEEE Robotics and Automation Society; National University of Defense Technology; The Chinese University of Hong Kong; City University of Hong Kong
会议录名称2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2009
页码2463-2467
收录类别EI ; CPCI(ISTP)
EI收录号20101712895196
WOS记录号WOS:000285530501213
产权排序1
ISBN号978-1-4244-4775-6
摘要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.
语种英语
引用统计
被引频次:9[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/8547
专题机器人学研究室
作者单位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
推荐引用方式
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.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
HYQW000221.pdf(113KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Song Q(宋崎)]的文章
[He YQ(何玉庆)]的文章
百度学术
百度学术中相似的文章
[Song Q(宋崎)]的文章
[He YQ(何玉庆)]的文章
必应学术
必应学术中相似的文章
[Song Q(宋崎)]的文章
[He YQ(何玉庆)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: HYQW000221.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。