attitude determination(QEKF,MEKF,UKF).zip

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两种基于四元数的ekf,UKF算法介绍; Quaternion extended Kalman filter - QEKF Multiplicative extended Kalman filter - MEKF
attitude determination(QEKF,MEKF,UKF).zip
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内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6251549074bc5c01059a1e1c/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6251549074bc5c01059a1e1c/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">Unscented<span class="_ _0"> </span>Kalman<span class="_ _0"> </span>Filtering<span class="_ _0"> </span>for<span class="_ _0"> </span>Attitude</div><div class="t m0 x2 h2 y2 ff1 fs0 fc0 sc0 ls1 ws0">Determination<span class="_ _0"> </span>Using<span class="_ _0"> </span>MEMS<span class="_ _0"> </span>Sensors</div><div class="t m0 x3 h3 y3 ff2 fs1 fc0 sc0 ls2 ws0">Jaw-Kuen<span class="_"> </span>Shiau*<span class="_"> </span>and<span class="_"> </span>I-Chiang<span class="_"> </span>Wang</div><div class="t m0 x4 h4 y4 ff3 fs2 fc0 sc0 ls3 ws0">Department<span class="_ _1"> </span>of<span class="_ _1"> </span>Aer<span class="_ _2"></span>ospace<span class="_ _1"> </span>Engineering,<span class="_ _1"> </span>T<span class="_ _3"></span>amkang<span class="_ _1"> </span>University<span class="_ _2"></span>,</div><div class="t m0 x5 h4 y5 ff3 fs2 fc0 sc0 ls4 ws0">Danshui,<span class="_ _1"> </span>New<span class="_ _1"> </span>T<span class="_ _3"></span>aipei<span class="_ _1"> </span>City<span class="_ _1"> </span>25137,<span class="_ _1"> </span>T<span class="_ _3"></span>aiwan,<span class="_ _1"> </span>R.O.C.</div><div class="t m0 x6 h5 y6 ff4 fs3 fc0 sc0 ls2 ws0">Abstract</div><div class="t m0 x7 h6 y7 ff2 fs4 fc0 sc0 ls5 ws0">This<span class="_ _4"> </span>paper<span class="_ _4"> </span>presents<span class="_ _4"> </span>the<span class="_ _4"> </span>results<span class="_ _4"> </span>of<span class="_ _4"> </span>a<span class="_ _4"> </span>quaternion-b<span class="_ _5"></span>ased<span class="_ _4"> </span>unscented<span class="_ _4"> </span>Kalman<span class="_ _4"> </span>filtering<span class="_ _4"> </span>for<span class="_ _4"> </span>attitude</div><div class="t m0 x8 h6 y8 ff2 fs4 fc0 sc0 ls2 ws0">estimation<span class="_"> </span>using<span class="_"> </span>low<span class="_"> </span>cost<span class="_ _1"> </span>MEMS<span class="_"> </span>sensors.<span class="_"> </span>The<span class="_"> </span>unscented<span class="_"> </span>Kalman<span class="_ _1"> </span>filter<span class="_"> </span>uses<span class="_"> </span>the<span class="_"> </span>pitch<span class="_ _1"> </span>and<span class="_"> </span>roll<span class="_"> </span>angles</div><div class="t m0 x8 h6 y9 ff2 fs4 fc0 sc0 ls6 ws0">computed<span class="_ _6"> </span>from<span class="_ _4"> </span>g<span class="_ _5"></span>ravity<span class="_ _6"> </span>force<span class="_ _6"> </span>decomposition<span class="_ _6"> </span>as<span class="_ _6"> </span>the<span class="_ _6"> </span>measurement<span class="_ _6"> </span>for<span class="_ _6"> </span>the<span class="_ _6"> </span>filter<span class="_ _2"></span>.<span class="_ _4"> </span>The<span class="_ _6"> </span>immeasurable</div><div class="t m0 x8 h6 ya ff2 fs4 fc0 sc0 ls7 ws0">gravity<span class="_ _6"> </span>accelerations<span class="_ _7"> </span>are<span class="_ _6"> </span>deduced<span class="_ _7"> </span>from<span class="_ _6"> </span>the<span class="_ _7"> </span>outputs<span class="_ _6"> </span>o<span class="ls8">f<span class="_ _7"> </span>the<span class="_ _6"> </span>three<span class="_ _7"> </span>axes<span class="_ _6"> </span>accelerometers,<span class="_ _7"> </span>the<span class="_ _6"> </span>relative</span></div><div class="t m0 x8 h6 yb ff2 fs4 fc0 sc0 ls9 ws0">accelerations,<span class="_"> </span>and<span class="_ _4"> </span>the<span class="_ _4"> </span>accelerations<span class="_ _4"> </span>due<span class="_ _4"> </span>to<span class="_ _4"> </span>body<span class="_"> </span>rota<span class="lsa">tion.<span class="_ _4"> </span>The<span class="_ _4"> </span>constraint<span class="_"> </span>of<span class="_ _4"> </span>the<span class="_ _4"> </span>four<span class="_ _4"> </span>elements<span class="_"> </span>of<span class="_ _4"> </span>the</span></div><div class="t m0 x8 h6 yc ff2 fs4 fc0 sc0 ls8 ws0">quaternion<span class="_ _4"> </span>method<span class="_ _4"> </span>is<span class="_ _4"> </span>treated<span class="_ _4"> </span>as<span class="_ _6"> </span>a<span class="_"> </span>perfect<span class="_ _6"> </span>measurem<span class="_ _2"></span><span class="lsb">ent<span class="_ _4"> </span>and<span class="_ _6"> </span>is<span class="_ _4"> </span>integrated<span class="_ _6"> </span>into<span class="_ _4"> </span>the<span class="_ _6"> </span>system<span class="_"> </span>to<span class="_ _6"> </span>form<span class="_ _4"> </span>a</span></div><div class="t m0 x8 h6 yd ff2 fs4 fc0 sc0 ls2 ws0">constrained<span class="_ _8"> </span>unscented<span class="_ _8"> </span>Kalman<span class="_ _8"> </span>filter<span class="_ _3"></span>.<span class="_ _8"> </span>The<span class="_ _8"> </span>heading<span class="_ _8"> </span>angle<span class="_ _8"> </span>is<span class="_ _8"> </span>obtained<span class="_ _8"> </span>from<span class="_ _9"> </span>a<span class="_ _9"> </span>complimentary<span class="_ _9"> </span>filter<span class="_ _8"> </span>which</div><div class="t m0 x8 h6 ye ff2 fs4 fc0 sc0 lsc ws0">uses<span class="_ _4"> </span>the<span class="_ _4"> </span>h<span class="_ _5"></span>eading<span class="_ _4"> </span>signal<span class="_ _4"> </span>derived<span class="_ _6"> </span>from<span class="_"> </span>the<span class="_ _6"> </span>magneti<span class="_ _2"></span>c<span class="_ _4"> </span>force<span class="_ _6"> </span>informat<span class="_ _2"></span>ion<span class="_ _4"> </span>from<span class="_ _4"> </span>an<span class="_ _6"> </span>electronic<span class="_"> </span>magnetic</div><div class="t m0 x8 h6 yf ff2 fs4 fc0 sc0 ls2 ws0">sensor<span class="_"> </span>and<span class="_ _8"> </span>the<span class="_"> </span>GPS-derived<span class="_"> </span>heading<span class="_"> </span>as<span class="_ _8"> </span>the<span class="_"> </span>inputs.<span class="_"> </span>An<span class="_ _8"> </span>experiment<span class="_"> </span>using<span class="_"> </span>an<span class="_ _8"> </span>in-house<span class="_"> </span>designed<span class="_"> </span>motion</div><div class="t m0 x8 h6 y10 ff2 fs4 fc0 sc0 lsc ws0">platform<span class="_ _4"> </span>is<span class="_ _6"> </span>conducted<span class="_ _4"> </span>to<span class="_ _6"> </span>evaluate<span class="_ _6"> </span>the<span class="_ _6"> </span>proposed<span class="_ _4"> </span>algorithm.<span class="_ _6"> </span>The<span class="_ _4"> </span>noise<span class="_ _6"> </span>characteristics<span class="_ _4"> </span>of<span class="_ _6"> </span>the<span class="_ _6"> </span>sensor</div><div class="t m0 x8 h6 y11 ff2 fs4 fc0 sc0 ls2 ws0">signals<span class="_ _9"> </span>are<span class="_ _8"> </span>examined<span class="_ _9"> </span>using<span class="_ _8"> </span>the<span class="_ _8"> </span>laboratory<span class="_ _8"> </span>data.<span class="_ _8"> </span>Approximations<span class="_ _9"> </span>of<span class="_ _8"> </span>the<span class="_ _8"> </span>time-varying<span class="_ _9"> </span>noise<span class="_ _8"> </span>variances<span class="_ _8"> </span>of</div><div class="t m0 x8 h6 y12 ff2 fs4 fc0 sc0 lsd ws0">the<span class="_"> </span>measured<span class="_ _4"> </span>signals<span class="_"> </span>are<span class="_ _4"> </span>obtained<span class="_ _4"> </span>through<span class="_ _4"> </span>T<span class="_ _3"></span>aylor<span class="_ _4"> </span>series<span class="_ _4"> </span>expansions.<span class="_ _4"> </span>The<span class="_"> </span>algorithm<span class="_ _4"> </span>is<span class="_"> </span>intuitive<span class="_ _4"> </span>and</div><div class="t m0 x8 h6 y13 ff2 fs4 fc0 sc0 lse ws0">easy<span class="_ _a"> </span>to<span class="_ _a"> </span>implement.<span class="_ _a"> </span>Moreover<span class="_ _3"></span>,<span class="_ _b"> </span>the<span class="_ _a"> </span>proposed<span class="_ _a"> </span>al<span class="lsf">gorithm<span class="_ _a"> </span>and<span class="_ _a"> </span>the<span class="_ _a"> </span>filter<span class="_ _a"> </span>design<span class="_ _b"> </span>are<span class="_ _a"> </span>successfully</span></div><div class="t m0 x8 h6 y14 ff2 fs4 fc0 sc0 ls2 ws0">demonstrated<span class="_ _8"> </span>through<span class="_"> </span>a<span class="_"> </span>complete<span class="_ _8"> </span>set<span class="_ _8"> </span>of<span class="_"> </span>flight<span class="_"> </span>test<span class="_ _8"> </span>data.</div><div class="t m0 x8 h6 y15 ff5 fs4 fc0 sc0 ls2 ws0">Key<span class="_ _8"> </span>Words<span class="ff4">:<span class="_ _7"> </span><span class="ff2">Flight<span class="_ _7"> </span>Information<span class="_ _c"> </span>Measurement,<span class="_ _7"> </span>Nonlinear<span class="_ _c"> </span>Kalman<span class="_ _7"> </span>Filter,<span class="_ _c"> </span>Quaternion,</span></span></div><div class="t m0 x9 h6 y16 ff2 fs4 fc0 sc0 ls2 ws0">Complementary<span class="_ _7"> </span>Filter</div><div class="t m0 xa h5 y17 ff4 fs3 fc0 sc0 ls10 ws0">1.<span class="_ _7"> </span>Intr<span class="_"> </span>oduction</div><div class="t m0 xb h7 y18 ff2 fs5 fc0 sc0 ls2 ws0">Obtaining<span class="_ _0"> </span>precise<span class="_ _d"> </span>attitude<span class="_ _0"> </span>information<span class="_ _d"> </span>is<span class="_ _0"> </span>essential</div><div class="t m0 xc h7 y19 ff2 fs5 fc0 sc0 ls2 ws0">for<span class="_ _8"> </span>aircraft<span class="_"> </span>navigation<span class="_"> </span>and<span class="_ _8"> </span>control<span class="_"> </span>applications.<span class="_"> </span>W<span class="_ _3"></span>ith<span class="_"> </span>the</div><div class="t m0 xc h7 y1a ff2 fs5 fc0 sc0 ls2 ws0">maturation<span class="_ _0"> </span>and<span class="_ _0"> </span>advancement<span class="_ _d"> </span>of<span class="_ _0"> </span>semiconductor<span class="_ _0"> </span>manu</div><div class="t m0 xd h7 y1b ff2 fs5 fc0 sc0 ls2 ws0">-</div><div class="t m0 xc h7 y1c ff2 fs5 fc0 sc0 ls2 ws0">facturing<span class="_ _d"> </span>technology<span class="_ _2"></span>,<span class="_ _0"> </span>MEMS<span class="_ _0"> </span>sensors<span class="_ _d"> </span>are<span class="_ _0"> </span>increasingly</div><div class="t m0 xc h7 y1d ff2 fs5 fc0 sc0 ls2 ws0">used<span class="_ _9"> </span>in<span class="_ _8"> </span>flight<span class="_ _8"> </span>attitude<span class="_ _8"> </span>calculations<span class="_"> </span>[1<span class="ff6">-</span>9].<span class="_ _9"> </span>However<span class="_ _2"></span>,<span class="_ _9"> </span>accu</div><div class="t m0 xd h7 y1e ff2 fs5 fc0 sc0 ls2 ws0">-</div><div class="t m0 xc h7 y1f ff2 fs5 fc0 sc0 ls2 ws0">racy<span class="_ _7"> </span>requirements<span class="_ _7"> </span>usually<span class="_ _7"> </span>cannot<span class="_ _c"> </span>be<span class="_ _7"> </span>satisfied<span class="_ _c"> </span>by<span class="_ _7"> </span>using</div><div class="t m0 xc h7 y20 ff2 fs5 fc0 sc0 ls2 ws0">the<span class="_ _4"> </span>inexpensive<span class="_ _6"> </span>MEMS<span class="_"> </span>sensors.<span class="_ _4"> </span>Therefore,<span class="_ _6"> </span>some<span class="_"> </span>forms</div><div class="t m0 xc h7 y21 ff2 fs5 fc0 sc0 ls2 ws0">of<span class="_ _1"> </span>Kalman<span class="_"> </span>filtering<span class="_ _8"> </span>or<span class="_"> </span>complementary<span class="_ _8"> </span>fusion<span class="_"> </span>algorithms</div><div class="t m0 xc h7 y22 ff2 fs5 fc0 sc0 ls11 ws0">are<span class="_ _7"> </span>normally<span class="_ _7"> </span>employed<span class="_ _7"> </span>to<span class="_ _c"> </span>provide<span class="_ _c"> </span>more<span class="_ _7"> </span>accurate<span class="_ _c"> </span>and</div><div class="t m0 xc h7 y23 ff2 fs5 fc0 sc0 ls11 ws0">reliable<span class="_ _6"> </span>attitude<span class="_ _6"> </span>information<span class="_ _4"> </span>in<span class="_ _6"> </span>the<span class="_ _4"> </span>MEMS<span class="_ _4"> </span><span class="ls2">attitude<span class="_ _7"> </span>de</span></div><div class="t m0 xd h7 y24 ff2 fs5 fc0 sc0 ls2 ws0">-</div><div class="t m0 xc h7 y25 ff2 fs5 fc0 sc0 ls2 ws0">termination<span class="_ _6"> </span>systems<span class="_ _4"> </span>[2<span class="_ _5"></span><span class="ff6">-</span>6].<span class="_ _6"> </span>A<span class="_"> </span>fuzzy<span class="_ _4"> </span>logic<span class="_ _7"> </span>based<span class="_ _4"> </span>closed-</div><div class="t m0 xc h7 y26 ff2 fs5 fc0 sc0 ls2 ws0">loop<span class="_ _4"> </span>strapdown<span class="_ _6"> </span>attitude<span class="_ _4"> </span>system<span class="_ _4"> </span>for<span class="_ _4"> </span>UA<span class="_ _e"></span>V<span class="_"> </span>is<span class="_ _4"> </span>presented<span class="_ _6"> </span>in</div><div class="t m0 xc h7 y27 ff2 fs5 fc0 sc0 ls2 ws0">[7].<span class="_ _6"> </span>A<span class="_"> </span>miniature<span class="_ _7"> </span>MEMS-based<span class="_ _6"> </span>attitude<span class="_ _7"> </span>and<span class="_ _6"> </span>heading<span class="_ _7"> </span>re</div><div class="t m0 xd h7 y28 ff2 fs5 fc0 sc0 ls2 ws0">-</div><div class="t m0 xe h7 y29 ff2 fs5 fc0 sc0 ls12 ws0">fere<span class="_ _5"></span>nc<span class="_ _5"></span>e<span class="_ _8"> </span>system,<span class="_ _9"> </span>which<span class="_ _8"> </span>makes<span class="_ _8"> </span>use<span class="_ _9"> </span>of<span class="_ _8"> </span>an<span class="_ _8"> </span>extended<span class="_ _8"> </span>Kalman</div><div class="t m0 xe h7 y2a ff2 fs5 fc0 sc0 ls2 ws0">filter<span class="_ _c"> </span>with<span class="_ _c"> </span>adaptive<span class="_ _0"> </span>gain,<span class="_ _c"> </span>and<span class="_ _0"> </span>with<span class="_ _c"> </span>accelerometers<span class="_ _c"> </span>and</div><div class="t m0 xe h7 y2b ff2 fs5 fc0 sc0 ls2 ws0">magnetic<span class="_ _4"> </span>sensor<span class="_ _6"> </span>as<span class="_ _4"> </span>the<span class="_ _6"> </span>measurements,<span class="_ _4"> </span>was<span class="_ _4"> </span>presented<span class="_ _6"> </span>in</div><div class="t m0 xe h7 y2c ff2 fs5 fc0 sc0 ls2 ws0">[8].<span class="_ _8"> </span>A<span class="_ _9"> </span>precision<span class="_"> </span>attitude<span class="_ _8"> </span>determination<span class="_"> </span>employing<span class="_ _8"> </span>a<span class="_ _8"> </span>mul</div><div class="t m0 xf h7 y2d ff2 fs5 fc0 sc0 ls2 ws0">-</div><div class="t m0 xe h7 y2e ff2 fs5 fc0 sc0 ls2 ws0">tiple<span class="_ _4"> </span>model<span class="_ _4"> </span>adaptive<span class="_ _4"> </span>estimation<span class="_ _6"> </span>scheme<span class="_"> </span>was<span class="_"> </span>reported<span class="_ _6"> </span>in</div><div class="t m0 xe h7 y2f ff2 fs5 fc0 sc0 ls2 ws0">[9].<span class="_"> </span>For<span class="_ _4"> </span>highly<span class="_ _4"> </span>nonlinear<span class="_ _4"> </span>systems,<span class="_"> </span>the<span class="_ _4"> </span>extended<span class="_ _4"> </span>Kalman</div><div class="t m0 xe h7 y30 ff2 fs5 fc0 sc0 ls2 ws0">filter<span class="_ _7"> </span>may<span class="_ _7"> </span>not<span class="_ _7"> </span>provide<span class="_ _7"> </span>enough<span class="_ _c"> </span>accuracy<span class="_ _c"> </span>for<span class="_ _7"> </span>air<span class="_ _7"> </span>vehicle</div><div class="t m0 xe h7 y31 ff2 fs5 fc0 sc0 ls13 ws0">attitude<span class="_ _c"> </span>estimation.<span class="_ _c"> </span>The<span class="_ _c"> </span>unscented<span class="_ _c"> </span>Kalman<span class="_ _c"> </span>filter<span class="_ _c"> </span>will</div><div class="t m0 xe h7 y32 ff2 fs5 fc0 sc0 ls2 ws0">achieve<span class="_"> </span>greater<span class="_ _1"> </span>attitude<span class="_"> </span>estimation<span class="_"> </span>performance<span class="_ _8"> </span>than<span class="_"> </span>the</div><div class="t m0 xe h7 y33 ff2 fs5 fc0 sc0 ls13 ws0">extended<span class="_ _c"> </span>Kalman<span class="_ _c"> </span>filter<span class="_ _0"> </span>through<span class="_ _c"> </span>the<span class="_ _c"> </span>u<span class="_ _5"></span>se<span class="_ _c"> </span>of<span class="_ _0"> </span>unscented</div><div class="t m0 xe h7 y34 ff2 fs5 fc0 sc0 ls2 ws0">transformation<span class="_ _6"> </span>[10<span class="ff6">-</span>13].<span class="_ _6"> </span>In<span class="_ _6"> </span>particular<span class="_ _2"></span>,<span class="_ _6"> </span>[10]<span class="_ _6"> </span>and<span class="_ _6"> </span>[12]<span class="_ _6"> </span>de</div><div class="t m0 xf h7 y35 ff2 fs5 fc0 sc0 ls2 ws0">-</div><div class="t m0 xe h7 y36 ff2 fs5 fc0 sc0 ls12 ws0">mon<span class="_ _5"></span>str<span class="_ _5"></span>at<span class="_ _5"></span>ed<span class="_ _c"> </span>the<span class="_ _7"> </span>success<span class="_ _c"> </span>of<span class="_ _7"> </span>the<span class="_ _c"> </span>unscented<span class="_ _c"> </span>Kalman<span class="_ _7"> </span>filter</div><div class="t m0 xe h7 y37 ff2 fs5 fc0 sc0 ls14 ws0">design<span class="_ _c"> </span>for<span class="_ _c"> </span>spacecraft<span class="_ _c"> </span>attitude<span class="_ _0"> </span>estimation<span class="_ _7"> </span>through<span class="_ _0"> </span>com</div><div class="t m0 xf h7 y38 ff2 fs5 fc0 sc0 ls2 ws0">-</div><div class="t m0 xe h7 y39 ff2 fs5 fc0 sc0 ls2 ws0">puter<span class="_"> </span>simulation.<span class="_"> </span>In<span class="_"> </span>[1<span class="_ _2"></span>1],<span class="_ _1"> </span>an<span class="_"> </span>unscented<span class="_"> </span>Kalman<span class="_"> </span>filter<span class="_"> </span>for</div><div class="t m0 xe h7 y3a ff2 fs5 fc0 sc0 ls2 ws0">in-motion<span class="_ _7"> </span>alignment<span class="_ _c"> </span>of<span class="_ _7"> </span>low-cost<span class="_ _c"> </span>MEMS-based<span class="_ _c"> </span>inertial</div><div class="t m0 xe h7 y3b ff2 fs5 fc0 sc0 ls2 ws0">measurement<span class="_ _c"> </span>unit<span class="_ _0"> </span>was<span class="_ _0"> </span>discussed.<span class="_ _0"> </span>It<span class="_ _c"> </span>demonstrated<span class="_ _0"> </span>that</div><div class="t m0 xe h7 y3c ff2 fs5 fc0 sc0 ls2 ws0">the<span class="_ _0"> </span>unscented<span class="_ _c"> </span>Kalman<span class="_ _0"> </span>filter<span class="_ _c"> </span>has<span class="_ _0"> </span>the<span class="_ _c"> </span>capability<span class="_ _0"> </span>to<span class="_ _0"> </span>deal</div><div class="t m0 xc h8 y3d ff7 fs6 fc0 sc0 ls15 ws0">Journal<span class="_"> </span>of<span class="_ _9"> </span>Applied<span class="_"> </span>Science<span class="_ _9"> </span>and<span class="_"> </span>Engineering,<span class="_ _9"> </span>Vol.<span class="_ _9"> </span>16,<span class="_"> </span>No.<span class="_ _9"> </span>2,<span class="_"> </span>pp.<span class="_ _9"> </span>165<span class="ff8 ls2">-</span><span class="ls16">176<span class="_"> </span>(2013)<span class="_ _f"> </span>DOI:<span class="_ _8"> </span>10.6180/jase.2013.16.2.08</span></div><div class="t m0 xc h9 y3e ff2 fs6 fc0 sc0 ls2 ws0">*Corresponding<span class="_"> </span>author<span class="_ _3"></span>.<span class="_ _c"> </span>E-mail:shiauj@mail.tku.edu.tw</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div> </body> </html>
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    • kf.ekf.zip
      matlab的一个小例子,非常适合初学者使用
    • EKF1.zip
      扩展卡尔曼滤波对下一时刻物体状态的预测,从而进行进一步分析
    • kalman.rar
      卡尔曼滤波主程序,可以先下载看看,适合于初学者