제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제18권3호
  • /
  • Pages.175-180
  • /
  • 2012
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

생체모방 로봇을 위한 비선형 항법 필터

A Nonlinear Navigation Filter for Biomimetic Robot

  • 투고 : 2011.11.15
  • 심사 : 2011.12.20
  • 발행 : 2012.03.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

A nonlinear navigation filter for biomimetic robot using analytic approximation of mean and covariance of state variable is proposed. The approximations are performed at the time update step in the filter structure. The mean is approximated to the 3rd order of Taylor's series expansion of true mean and the covariance is approximated to the 3rd order either. The famous EKF is a nonlinear filtering method approximating the mean to 1st order and the covariance to the 3rd order. The UKF approximate them to the higher orders by numerical method. The proposed method derived a analytical approximation of them for navigation system and therefore don't need so called sigma point transformation in UKF. The simulation results show that the proposed method can be a good alternative of UKF in the systems which require less computational burden.

키워드

참고문헌

  1. S. J. Julier, J. K. Uhlmann, and H. F. Durrant-Whyte, "A new approach for filtering nonlinear systems," Proc. Am. Contr. Conf., Seattle, WA, pp. 1628-1632, 1995.
  2. Y. Wu, D. Hu, M. Wu, and X. Hu, "Unscented Kalman filtering for additive noise case: augmented versus nonaugmented," IEEE Signal Processing Letters, vol. 12, no. 5, 2005.
  3. S. J. Julier, J. K. Uhlmann, and H. F. Durrant-Whyte, "A new method for the nonlinear transformation of means and covariances in filters and estimators," IEEE Transactions on Automatic Control, vol. 45, no. 3, 2000.
  4. S. J. Julier and J. K. Uhlmann, "Unscented filtering and nonlinear estimation," Proc. of the IEEE, vol. 92, no. 3, 2004.
  5. D. H. Tiierton and J. L. Weston, Strapdown Inertial Navaigation Technology-2nd Edition, The Institution of Electrical Engineers, 2004.
  6. D. J. Simon, Optimal State Estimation-Kalman, H infinity, and Nonlinear Approaches, John & Wiley, 2006.
  7. W. Y. Kang, K. J. Kim, and C. G. Park, "Performance analysis of in-flight alignment using UKF," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 12, no. 11, 2006. https://doi.org/10.5302/J.ICROS.2006.12.11.1124
  8. Q. Wei, F. Jiancheng, X. Fan, and S. Wei, "Hybrid simulation system study of SINS/CNS integrated navigation," IEEE Aerospace and Electronic Systems Magazine, vol. 23, no. 2, 2008.
  9. F. Gul, F. Jiancheng, and A. A. Gaho, "GPS/INS navigation data fusion using quaternion model and unscented Kalman filter," Proc. of the 2006 IEEE International Conference on Mechatronics and Automation, 2006.