Unscented Kalman Filter with Controlled Adaptation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F12%3A43915568" target="_blank" >RIV/49777513:23520/12:43915568 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.3182/20120711-3-BE-2027.00163" target="_blank" >http://dx.doi.org/10.3182/20120711-3-BE-2027.00163</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3182/20120711-3-BE-2027.00163" target="_blank" >10.3182/20120711-3-BE-2027.00163</a>
Alternative languages
Result language
angličtina
Original language name
Unscented Kalman Filter with Controlled Adaptation
Original language description
The paper deals with state estimation of nonlinear stochastic systems with a special focus on the unscented Kalman filter. Recently, several techniques have been proposed to improve estimate quality of the system state by adapting a scaling parameter ofthe filter. They are, however, tied with an increase of computational costs. To eliminate this drawback a control mechanism is developed in this paper. Its aim is to execute the adaptation only in a case of strongly nonlinear behavior of the measurementfunction, which is evaluated using two measures of nonlinearity proposed in this paper. To further reduce the computational costs, the paper focuses on a choice of the interval over which the scaling parameter is adapted. The computational costs saving is illustrated in a numerical example.
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN
1474-6670
e-ISSN
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Volume of the periodical
16
Issue of the periodical within the volume
1
Country of publishing house
US - UNITED STATES
Number of pages
6
Pages from-to
906-911
UT code for WoS article
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EID of the result in the Scopus database
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