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Experimental investigation and comparison of nonlinear Kalman filters
Authors
何玉庆
周楹君
谷丰
韩建达
Publication date
1 January 2014
Publisher
Abstract
实际系统中存在的非线性因素和不确定性是实时状态测量以及不确定性估计算法需要解决的重要问题。以机器人系统中典型的动态目标观测问题为背景,采用多飞行机器人实验平台,分别针对EKF、UKF以及基于MIT规则的AUKF方法进行实验研究,并比较了上述方法的计算速度及估计精度等性能。最后,根据实验结果并结合其原理分析了每种方法的特性
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Last time updated on 29/11/2016