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Abstract
Model based methods for control of intelligent autonomous systems rely on a state estimate being available. One of the most common methods to obtain a state estimate for non-linear systems is the Extended Kalman Filter (EKF) algorithm. In order to apply the EKF an expression must be available for the Jacobian of the driving function; for complex systems this can be difficult to obtain. This paper presents an EKF variation that makes use of integrated quantised state simulation to propagate the state and obtain a backward difference estimate of the Jacobian at a small computational cost. A simulation case study involving a deep space probe is presented.
Original language | English |
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Title of host publication | Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles |
Number of pages | 6 |
Publication date | 2007 |
Publication status | Published - 2007 |
Event | Intelligent Autonomous Vehicles 2007 - Toulouse, France Duration: 3 Sept 2007 → 5 Sept 2007 Conference number: 6 |
Conference
Conference | Intelligent Autonomous Vehicles 2007 |
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Number | 6 |
Country/Territory | France |
City | Toulouse |
Period | 03/09/2007 → 05/09/2007 |
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Dive into the research topics of 'A Quantised State Systems Approach for Jacobian Free Extended Kalman Filtering'. Together they form a unique fingerprint.Projects
- 1 Finished
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A Quantized State Systems Approach for Declarative Spacecraft Autonomy
Alminde, L., Stoustrup, J. & Bendtsen, J. D.
01/08/2004 → 31/07/2007
Project: Research