State estimation based on Kalman filtering techniques in navigation

被引：10

作者：

Tamas, L. ^{[1
]}

Lazea, Gh. ^{[1
]}

Robotin, R. ^{[1
]}

Marcu, C. ^{[1
]}

Herle, S.

Szekely, Z. ^{[2
]}

机构：

[1] Tech Univ Cluj Napoca, Automat Dept, Cluj Napoca, Romania

[2] Purdue Univ, W Lafayette, IN 47907 USA

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR 2008), THETA 16TH EDITION, VOL II, PROCEEDINGS | 2008年

关键词：

odometric; ultrasonic; infrared measurement; Kalman filter; unscented transformation;

D O I：

10.1109/AQTR.2008.4588811

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper tackles the problem of the position measurement and estimation techniques in the robot navigation field based on Kalman filters. It presents the problem of the position estimation based on odometric, infrared and ultrasonic measurements. Further on deals with the theoretical and practical aspects of the state estimation based on Kalman filtering techniques. From the wide range of derivatives of the Kalman filtering technique there are detailed the Extended Kalman filter and the one based on Unscented Transformation. In the second part of the paper is concluded with the results of the comparison between the different filtering algorithms and the further perspectives regarding this subject.

引用

页码：147 / +

页数：2

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