卡尔曼滤波器
控制理论(社会学)
扩展卡尔曼滤波器
非线性系统
计算机科学
无味变换
不变扩展卡尔曼滤波器
集合卡尔曼滤波器
稳健性(进化)
线性化
快速卡尔曼滤波
作者
K. Xiong,C. L. Wei,L. D. Liu
摘要
A derivative-free robust Kalman filter algorithm is proposed for nonlinear uncertain systems. The unscented transform (UT) is adopted instead of the linearization technique to obtain the solution of the H∞ filter Riccati equation. A robust unscented Kalman filter (RUKF) is derived to guarantee an optimized upper bound on the estimation error covariance despite the model uncertainties and the approximation error of the UT. The proposed algorithm is applied to a satellite attitude determination system. Simulation results show that the RUKF is more effective than the unscented Kalman filter (UKF) in cases where alignment errors are present. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society
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