In thispapertheclassicalproblemofplanartrackingisstudied.Theapproachhereproposedisbasedon the ideaofconsidering,assystemoutput,avectorof‘‘virtual’’measurementsdirectlyobtainedfromthe actualones.Inthisway,themeasurementmapissplitintothesumofalineartime-varying transformationofthestateandanuncorrelatedwhitenoiseprocess,whichisgenerallynongaussian. The resultingmodelisamenableforapplyingstandardlinearandpolynomialKalmanlikealgorithms avoidinganylinearizationprocedureofthemeasurementmap,whichisrequiredbyotherstandard suboptimalsolutions(e.g.EKF).Finally,theproposedalgorithmsarecheckedthroughnumerical simulations

Robust planar tracking via a virtual measurement approach

GERMANI, Alfredo
2013

Abstract

In thispapertheclassicalproblemofplanartrackingisstudied.Theapproachhereproposedisbasedon the ideaofconsidering,assystemoutput,avectorof‘‘virtual’’measurementsdirectlyobtainedfromthe actualones.Inthisway,themeasurementmapissplitintothesumofalineartime-varying transformationofthestateandanuncorrelatedwhitenoiseprocess,whichisgenerallynongaussian. The resultingmodelisamenableforapplyingstandardlinearandpolynomialKalmanlikealgorithms avoidinganylinearizationprocedureofthemeasurementmap,whichisrequiredbyotherstandard suboptimalsolutions(e.g.EKF).Finally,theproposedalgorithmsarecheckedthroughnumerical simulations
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11697/16424
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