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EnglishIn 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
http://hdl.handle.net/11697/16424| Titolo: | Robust planar tracking via a virtual measurement approach |
| Autori interni: | GERMANI, Alfredo |
| Data di pubblicazione: | 2013 |
| Rivista: | EUROPEAN JOURNAL OF CONTROL |
| 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 |
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