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
Titolo: | Robust planar tracking via a virtual measurement approach |
Autori: | |
Data di pubblicazione: | 2013 |
Rivista: | |
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 |
Handle: | http://hdl.handle.net/11697/16424 |
Appare nelle tipologie: | 1.1 Articolo in rivista |
File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.