Projekter pr. år
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.
Originalsprog | Engelsk |
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Titel | Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles |
Antal sider | 6 |
Publikationsdato | 2007 |
Status | Udgivet - 2007 |
Begivenhed | Intelligent Autonomous Vehicles 2007 - Toulouse, Frankrig Varighed: 3 sep. 2007 → 5 sep. 2007 Konferencens nummer: 6 |
Konference
Konference | Intelligent Autonomous Vehicles 2007 |
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Nummer | 6 |
Land/Område | Frankrig |
By | Toulouse |
Periode | 03/09/2007 → 05/09/2007 |
Fingeraftryk
Dyk ned i forskningsemnerne om 'A Quantised State Systems Approach for Jacobian Free Extended Kalman Filtering'. Sammen danner de et unikt fingeraftryk.Projekter
- 1 Afsluttet
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Kvantiseret state systemer som en tilgang til intelligente autonome systemer
Alminde, L., Stoustrup, J. & Bendtsen, J. D.
01/08/2004 → 31/07/2007
Projekter: Projekt › Forskning