Experimental Investigation and Comparison of Nonlinear Kalman Filters
نویسندگان
چکیده
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. Copyright © 2013 IFSA.
منابع مشابه
IMPLEMENTATION OF EXTENDED KALMAN FILTER TO REDUCE NON CYCLO-STATIONARY NOISE IN AERIAL GAMMA RAY SURVEY
Gamma-ray detection has an important role in the enhancement the nuclear safety and provides a proper environment for applications of nuclear radiation. To reduce the risk of exposure, aerial gamma survey is commonly used as an advantage of the distance between the detection system and the radiation sources. One of the most important issues in aerial gamma survey is the detection noise. Various...
متن کاملA comparison of mobile robot pose estimation using nonlinear filters: simulation and experimental results
This paper explores and compares the nature of the non-linear filtering techniques on mobile robot pose estimation. Three non-linear filters are implemented including the extended Kalman filter (EKF), the unscented Kalman filter (UKF) and the particle filter (PF). The criteria of comparison is the magnitude of the error of pose estimation, the computational time, and the robustness of each filt...
متن کاملUnderstanding Nonlinear Kalman Filters, Part I: Selection between EKF and UKF
Kalman filters provide an important technique for estimating the states of engineering systems. With several variations of nonlinear Kalman filters, there is a lack of guidelines for filter selection with respect to a specific research or engineering application. This creates a need for an in-depth discussion of the intricacies of different nonlinear Kalman filters. Particularly of interest for...
متن کاملA Modified Proportional Navigation Guidance for Range Estimation
In this paper, after defining pure proportional navigation guidance in the 3-dimensional state from a new point of view, range estimation for passive homing missiles isexplained. Modeling has been performed by using line of sight coordinates with a particulardefinition. To obtain convergent estimates of those state variables involved particularly inrange channel and unavailable from IR trackers...
متن کاملNonlinear Attitude Filtering: A Comparison Study
This paper contains a concise comparison of a number of nonlinear attitude filtering methods that have attracted attention in the robotics and aviation literature. With the help of previously published surveys and comparison studies, the vast literature on the subject is narrowed down to a small pool of competitive attitude filters. Amongst these filters is a second-order optimal minimum-energy...
متن کامل