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 simulationsFile in questo prodotto:
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