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A Novel Case of Practical Exponential Observer Using Extended Kalman Filter

文献类型：期刊论文

作者Ma, Dongfang1; Ji DX(冀大雄)1; Deng, Zhi1; Li S(李硕)5; Wang, Tao1; Song W(宋伟)1; Zhu, Shiqiang1; Wang, Zhi4; Pan, Hongjun3; Sharma, Sanjay2
刊名IEEE ACCESS
出版日期2018
卷号6页码:58004-58011
关键词Discrete-time nonlinear system extended Kalman filter exponential observer restrictions spectral norm
ISSN号2169-3536
产权排序2
英文摘要This technical note presents a case of practical exponential observer using extended Kalman filter (EKF) independent of certain restrictions, such as online check and estimation error of initial state. Recursive state estimation is usually a challenge for discrete-time nonlinear system in terms of computation cost. EKF is attractive with its simplicity since it is considered as an exponential observer given the above restrictions. However, those restrictions are so mathematically complicated that EKF cannot be practical in estimation. A novel case for an exponential observer using EKF is proposed, which is independent of such restrictions. However, these restrictions are proved to be unnecessary in the case. The proposed case is illustrated by a navigation system scenario. The validity of the case is demonstrated by a numerical simulation experiment. The system is deterministic.
WOS关键词STATE ESTIMATION ; COOPERATIVE NETWORKS ; NONLINEAR ESTIMATION ; SYSTEMS ; TRACKING
资助项目National Natural Science Foundation of China[51679213] ; National Key Research and Development Program of China[2016YFC0300801] ; Fundamental Research Funds for the Central Universities ; U.K. Royal Society-International Exchanges 2017 Cost Share, China[IEC\NSFC\170405]
WOS研究方向Computer Science ; Engineering ; Telecommunications
语种英语
WOS记录号WOS:000449002100001
资助机构National Natural Science Foundation of China ; National Key Research and Development Program of China ; Fundamental Research Funds for the Central Universities ; U.K. Royal Society-International Exchanges 2017 Cost Share, China
源URL[http://ir.sia.cn/handle/173321/23557]  
专题沈阳自动化研究所_水下机器人研究室
所领导
通讯作者Ji DX(冀大雄)
作者单位1.Ocean College, Key Laboratory of Ocean Observation-Imaging Testbed of Zhejiang Province, Zhejiang University, Zhoushan 316000 China
2.School of Engineering, Plymouth University, Plymouth,PL4 8AA UK
3.School of Mathematics Physics and Information Science, Zhejiang Ocean University, Zhoushan 316000 China
4.College of Control Science and Engineering, Zhejiang University, Zhoushan 316000 China
5.The State Key Laboratory of Robotics, Shenyang Institute of Automation,CAS, Shenyang 110000 China
推荐引用方式
GB/T 7714		 Ma, Dongfang,Ji DX,Deng, Zhi,et al. A Novel Case of Practical Exponential Observer Using Extended Kalman Filter[J]. IEEE ACCESS,2018,6:58004-58011.
APA Ma, Dongfang.,Ji DX.,Deng, Zhi.,Li S.,Wang, Tao.,...&Yang, Xu.(2018).A Novel Case of Practical Exponential Observer Using Extended Kalman Filter.IEEE ACCESS,6,58004-58011.
MLA Ma, Dongfang,et al."A Novel Case of Practical Exponential Observer Using Extended Kalman Filter".IEEE ACCESS 6(2018):58004-58011.

入库方式： OAI收割

来源：沈阳自动化研究所

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