Experimental investigation and comparison of nonlinear Kalman filters

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Experimental investigation and comparison of nonlinear Kalman filters
	Zhou YJ(周楹君); Gu F(谷丰); He YQ(何玉庆); Han JD(韩建达)
刊名	Sensors & Transducers Journal
	2013
卷号	21 期号:SPEC.ISS.5 页码:175-181
关键词	Algorithms Extended Kalman filters
ISSN号	2306-8515
产权排序	1
中文摘要	One of the most important problems when designing controller is how to deal with all kinds of uncertainties, which, along with the high nonlinearities of most real systems, makes it difficult to guarantee the desired closed loop performance. Recently, nonlinear Kalman-class filter has been extensively researched and several well-known algorithms, including Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Adaptive Unscented Kalman Filter (AUKF), have been reported to be applicable in some cases. In this paper, on the basis of the moving target cooperative observation problem, performances of these nonlinear filter algorithms are analyzed and tested on a multi-flying-robot testbed, and the experimental results are listed to show the advantages and disadvantages of them.
收录类别	EI
语种	英语
公开日期	2013-10-05
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/12552]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zhou YJ,Gu F,He YQ,et al. Experimental investigation and comparison of nonlinear Kalman filters[J]. Sensors & Transducers Journal,2013,21(SPEC.ISS.5):175-181.
APA	Zhou YJ,Gu F,He YQ,&Han JD.(2013).Experimental investigation and comparison of nonlinear Kalman filters.Sensors & Transducers Journal,21(SPEC.ISS.5),175-181.
MLA	Zhou YJ,et al."Experimental investigation and comparison of nonlinear Kalman filters".Sensors & Transducers Journal 21.SPEC.ISS.5(2013):175-181.