• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.347-352
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• 2016

This paper investigates the application, design and implementation of unscented Kalman filter observer using the various scaling parameters for the sensorless speed control of a permanent magnet synchronous motor. The principles of unscented transformation and unscented Kalman filter are examined and their applications are explained. Typically the mapping transformation process is divided into two types, namely the basic unscented transformation and the general unscented transformation by virtue of the scaling parameter value. And resultantly, the number of sampling points, weights, code configuration and computation time are different. But there is no little information on the scaling parameter value or how this value influences the system performance. To analyze the unscented transformation with the various scaling parameters in this study, the experimental results under a wide range of operation condition have been demonstrated.

• 항공우주시스템공학회지
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• 제10권1호
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• pp.15-20
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• 2016

The optimal estimation of a general continuous-discrete system can be achieved through the solution of the Fokker-Planck equation and the Bayesian update. Due the high nonlinearity of the equation of motion of the system and the measurement model, it is necessary to linearize the both equation. To avoid linearization, the filter based on Fokker-Planck equation is designed. with the unscented transformation update mechanism, in which the associated Fokker-Planck equation was solved efficiently and accurately via discrete quadrature and the measurement update was done through the unscented transformation update mechanism. This filter based on the Direct Quadrature Moment of Method(DQMOM) and the unscented transformation update is applied to the bearing only target tracking problem. The proposed filter can still provide more accurate estimation of the state than those of the extended Kalman filter especially when measurements are sparse. Simulation results indicate that the advantages of the proposed filter based on the DQMOM and the unscented transformation update make it a promising alternative to the extended Kalman filter.

• 전기학회논문지
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• 제65권6호
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• pp.1019-1025
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• 2016

This paper proposes a parallel reduced-order square-root unscented Kalman filter for state estimation of a sensorless permanent-magnet synchronous motor. The appearance of an unscented Kalman filter is caused by the linearization process error between a real system and classical Kalman model. The unscented transformation can make a more accurate Kalman model. However, the complexity is its main drawback. This paper investigates the design and implementation of the proposed filter with Potter and Carlson square-root form. The proposed parallel reduced-order square-root unscented Kalman filter reduces memory and code size, and improves numerical computation. And the performance is not significantly different from the unscented Kalman filter. The experimentation is performed for the verification of the proposed filter.

• Journal of Astronomy and Space Sciences
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• 제28권3호
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• pp.183-192
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• 2011

The current study analyzes the effects of the scaling parameters of the batch unscented transformation on precision satellite orbit determination. Satellite laser ranging (SLR) data are used in the orbit determination algorithm, which consists of dynamics model, observation model and filtering algorithm composed of the batch unscented transformation. TOPEX/Poseidon SLR data are used by utilizing the normal point (NP) data observed from ground station. The filtering algorithm includes a repeated series of processes to determine the appropriate scaling parameters for the batch unscented transformation. To determine appropriate scaling parameters, general ranges of the scaling parameters of ${\alpha}$, ${\beta}$, k, $\lambda$ are established. Depending on the range settings, each parameter was assigned to the filtering algorithm at regular intervals. Appropriate scaling parameters are determined for observation data obtained from several observatories, by analyzing the relationship between tuning properties of the scaling parameters and estimated orbit precision. The orbit determination of satellite using the batch unscented transformation can achieve levels of accuracy within several tens of cm with the appropriate scaling parameters. The analyses in the present study give insights into the roles of scaling parameters in the batch unscented transformation method.

• 전자공학회논문지
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• 제53권6호
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• pp.174-180
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• 2016

본 논문은 영구자석 동기전동기의 위치 센서 없는 속도 제어를 위해 상태변수 값을 추정하기 위한 다양한 종류의 무향변환을 가지는 무향 칼만 필터에 관한 연구이다. 센서리스 전동기 구동을 위해 무향 변환 및 무향 칼만 필터의 원리를 기술하고 응용을 설명한다. 일반적으로 사상 과정은 스케일링 파라미터에 따라 기본 형태 및 일반적 형태의 두 종류로 구분 할 수 있으며 계산 시간, 샘플들의 수 및 샘플들에 관한 가중치들이 서로 차이가 난다. 그러나 스케일링 파라미터 값이 시스템 성능에 어떠한 영향을 미치는지에 대한 정보는 거의 없다. 시뮬레이션 및 실험적 결과들은 센서리스 전동기 구동 장치를 위한 다양한 스케일링 파라미터를 가지는 무향 변환 성능의 상호 비교 및 유효성을 보여준다.

• Journal of Electrical Engineering and Technology
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• 제12권2호
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• pp.683-688
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• 2017

The unscented Kalman filter features a direct transforming process involving unscented transformation for removing the linearization process error that may occur in the extended Kalman filter. This paper proposes a reduced-order unscented Kalman filter for the sensorless control of a permanent magnet synchronous motor. The proposed method can reduce the computational load without degrading the accuracy compared to the conventional Kalman filters. Moreover, the proposed method can directly estimate the electrical rotor position and speed without a back-electromotive force. The proposed Kalman filter for the sensorless control of a permanent magnet synchronous motor is verified through the simulation and experimentation. The performance of the proposed method is evaluated over a wide range of operations, such as forward and reverse rotations in low and high speeds including the detuning parameters.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.75-88
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• 2009

이 연구의 목적은 선형화 과정이 필요 없는 Unscented 변환(Unscented Transformation)을 사용한 후처리 배치 알고리즘을 소개하고, 기존 최소자승법을 이용한 후처리 배치 필터와 반복 UKF 스무더(Iterative Unscented Kalman Filter Smoother)들과 비교하여 추정 방법 간의 성능비교와 장단점을 분석하는 것이다. 연구에 사용된 위성 궤도 결정시스템의 동역학 방정식은 지구의 비대칭 중력장의 영향, 대기항력, 태양복사압 및 달과 태양의 중력으로 구성되었다. 관측 데이터로는 지상국으로부터 측정한 위성의 거리, 방위각과 고도각이 사용되었다. 특히, 비선형성의 영향에 대한 추정 방법 간의 성능과 장단점의 비교를 위해 위성의 포기 궤도오차별, 관측데이터의 관측 잡음의 크기별 테스트를 수행하였다. 이 연구를 통해 소개된, 선형화 과정이 필요 없는 Unscented 변환 기반의 후처리 배치 필터는, 비선형성의 특징이 증대된 상황에서 기존의 후처리 배치 알고리즘들에 비해 초기 궤도오차별, 관측데이터 잡음의 크기별 테스트 시 평균적으로 각각 약 5%와 12%정도의 정밀도 향상결과를 보였다. 또한, 기존 최소자승법을 이용한 후처리 배치필터가 발산한 상황에서도, 수렴성을 확보하는 안정적인 결과를 얻을 수 있었다. 그러므로 Unscented 변환 기반의 후처리 배치필터가 인공위성 궤도 결정 시스템에 효율적으로 사용할 수 있음을 제시하였다.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.34.2-34.2
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• 2008

The batch least square filter is widely used for ground estimations. However, in orbit determination (OD) under inaccurate initial conditions and few measurement data the performance by the batch least square filter can lead an unstable results. To complement weak part of the batch filter, the batch unscented transformation without any linearization process is developed by ACL (Astrodynamics and Control Laboratory) in YONSEI University. In this paper, the batch unscented transformation is introduced and applied to satellite orbit determination using Satellite Laser Ranging (SLR) data. Only range of the satellite measured from ground tracking stations is used for measurement data. The results of simulation test are compared with those of the weighted batch least square filter for various initial states errors (position and velocity). Simulation results show that the batch unscented transformation is comparable or slightly superior to batch least square filter in the orbit determination.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.865-872
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• 2008

Spacecraft attitude estimation using the nonlinear unscented filter is addressed to fully utilize capabilities of the unscented transformation. To release significant computational load, an efficient technique is proposed by reasonably removing correlation between random variables. This modification introduces considerable reduction of sigma points and computational burden in matrix square-root calculation for most nonlinear systems. Unscented filter technique makes use of a set of sample points to predict mean and covariance. The general QUEST(QUaternion ESTimator) algorithm preserves explicitly the quaternion normalization, whereas extended Kalman filter(EKF) implicitly obeys the constraint. For spacecraft attitude estimation based on quaternion, an approach to computing quaternion means from sampled quaternions with guarantee of the quaternion norm constraint is introduced applying a constrained optimization technique. Finally, the performance of the new approach is demonstrated using a star tracker and rate-gyro measurements.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.780-788
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• 2006

This paper deals with INS/GPS tightly coupled integration algorithms using extend Kalman filter (EKF) and unscented Kalman filter (UKF). In the tightly coupled approach, nonlinear pseudorange measurement models are used for the INS/GPS integration Kalman filter. Usually, an EKF is applied for this task, but it may diverge due to poor functional linearization of the nonlinear measurement. The UKF approximates a distribution about the mean using a set of calculated sigma points and achieves an accurate approximation to at least second-order. We introduce the generalized scaled unscented transformation which modifies the sigma points themselves rather than the nonlinear transformation. The generalized scaled method is used to transform the pseudo range measurement of the tightly coupled approach. To compare the performance of the EKF- and UKF-based tightly coupled approach, real van test and simulation have been carried out with feedforward and feedback indirect Kalman filter forms. The results show that the UKF and EKF have an identical performance in case of the feedback filter form, but the superiority of the UKF is demonstrated in case of the feedforward filer form.