Two-stage Unscented Kalman Filter for nonlinear systems in the presence of unknown random bias

被引：29
|
作者：
Xu, Jiahe [1 ]
Jing, Yuanwei [1 ]
Dimirovski, Georgi M. [2 ]
Ban, Ying [1 ]
机构：
[1] Northeastern Univ, Fac Informat Sci & Engn, Shenyang 110004, Peoples R China
[2] Dogus Univ Istanbul, Fac Engn, Dept Comp Engn, TR-347222 Istanbul, Turkey
来源：
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2008年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1109/ACC.2008.4587040
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The two-stage Unscented Kalman Filter (TUKF) is proposed to consider the nonlinear system in the presence of unknown random bias in a number of practical situations. The adaptive fading UKF is designed by using the forgetting factor to compensate the effects of incomplete information. The TUKF to estimate unknown random bias is designed by using the adaptive fading UKF. This filter can be used for nonlinear systems with unknown random bias on the assumption that the stochastic information of a random bias is incomplete. The stability of the TURF is analyzed and ensured under certain conditions. The performance of the TUKF is verified by using MATLAB simulation on the high-update rate Wheel Mobile Robot (WMR).
引用
收藏
页码：3530 / +
页数：2
相关论文
共 50 条
  • [1] Adaptive two-stage Kalman filter in the presence of unknown random bias
    Kim, Kwang Hoon
    Lee, Jang Gyu
    Park, Chan Gook
    [J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2006, 20 (07) : 305 - 319
  • [2] Adaptive Two-Stage Kalman Filter in the Presence of Random Bias
    Hu Yi-ming
    Qin Yong-yuan
    [J]. PROCEEDINGS OF 2010 3RD IEEE INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND INFORMATION TECHNOLOGY (ICCSIT 2010), VOL 6, 2010, : 135 - 138
  • [3] Optimal two-stage Kalman filter in the presence of random bias
    Keller, JY
    Darouach, M
    [J]. AUTOMATICA, 1997, 33 (09) : 1745 - 1748
  • [4] Two-Stage Cubature Kalman Filter for Nonlinear System with Random Bias
    Zhang, Lu
    Lv, Meilei
    Niu, Zhuyun
    Rao, Wenbi
    [J]. PROCESSING OF 2014 INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INFORMATION INTEGRATION FOR INTELLIGENT SYSTEMS (MFI), 2014,
  • [5] Distributed Adaptive Two-stage Kalman Filter for Target Tracking in the Presence of Unknown Dynamic Bias
    Zhang Cui
    Jia Yingmin
    Du Junping
    Zhang Jun
    [J]. 2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 7216 - 7221
  • [6] Variational Bayesian Two-Stage Kalman Filter for Systems with Unknown Inputs
    Sun, Junlong
    Zhou, Jie
    Gu, Xuekui
    [J]. 2012 INTERNATIONAL WORKSHOP ON INFORMATION AND ELECTRONICS ENGINEERING, 2012, 29 : 2265 - 2273
  • [7] Kalman filter with unknown inputs and robust two-stage filter
    Keller, JY
    Darouach, M
    Caramelle, L
    [J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 1998, 29 (01) : 41 - 47
  • [8] An Improved Unscented Kalman Filter for Discrete Nonlinear Systems with Random Parameters
    Wang, Yue
    Qiu, Zhijian
    Qu, Xiaomei
    [J]. DISCRETE DYNAMICS IN NATURE AND SOCIETY, 2017, 2017
  • [9] A two-stage Kalman filter for the identification of structural parameters with unknown loads
    He, Jia
    Zhang, Xiaoxiong
    Feng, Zhouquan
    Chen, Zhengqing
    Cao, Zhang
    [J]. SMART STRUCTURES AND SYSTEMS, 2020, 26 (06) : 693 - 701
  • [10] Robust two-stage Kalman filters for systems with unknown inputs
    Hsieh, CS
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2000, 45 (12) : 2374 - 2378
12345