대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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- Pages.905-908
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- 1988
좌표 변환을 이용한 확장 칼만 필터의 구조적 개선
Structural Improvement of Extended Kalman Filter using Coordinate Transformation
- Yun, Kang-Sup (Dept. of Mechanical Eng. Pusan National University) ;
- Kim, Jong-Hwa (Dept. of Mechanical Eng. Pusan National University) ;
- Hwang, Chang-Sun (Dept. of Electrical Eng. Pusan National University) ;
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Lee, Man-Hyung
(Dept. of Mechanical Eng. Pusan National University)
- 발행 : 1988.07.01
초록
In recent, Kalman filter technique has been much used as one of technique for tracking of the moving target. But some problem are still remained to be resolved. For example, when Kalman filter technique is applied to nonlinear system, the technique is nonoptimal estimator. Therefore, extended Kalman filter is proposed to reduce modeling error for nonlinear system. In this study, an extended Kalman filter in Cartesian coordinates is described for moving target, when the radar sensor measures range, azimuth and elevation angle in polar coordinates. And an approximate gain computation algorithm is proposed. In this approach, Kalman gains are computed for three uncoupled filter and multiplied by a Jacobian transformation determined from the measured target position and orientation.
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