지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2012.3
- 수록면
- 175 - 180 (6page)
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초록· 키워드
오류제보하기
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.
목차
Abstract
Ⅰ. 서론
Ⅱ. 항법시스템
Ⅲ. 해석적 근사를 이용한 비선형 항법 필터
Ⅳ. 시뮬레이션
Ⅴ. 결론
참고문헌
부록
참고문헌 (9)
참고문헌 신청
1. [학술대회논문] - S. J. Julier / 1995 / A new approach for filtering nonlinear systems / Proc. Am. Contr. Conf., Seattle : 1628 ~ 1632
2. [학술지(정기간행물)] - Y. Wu / 2005 / Unscented Kalman filtering for additive noise case: augmented versus nonaugmented / IEEE Signal Processing Letters 12 (5)
3. [학술지(정기간행물)] - S. J. Julier / 2000 / A new method for the nonlinear transformation of means and covariances in filters and estimators / IEEE Transactions on Automatic Control 45 (3)
4. [학술대회논문] - S. J. Julier / 2004 / Unscented filtering and nonlinear estimation / Proc. of the IEEE 92 (3)
5. [단행본] - D. H. Tiierton / 2004 / Strapdown Inertial Navaigation Technology / The Institution of Electrical Engineers
2. [학술지(정기간행물)] - Y. Wu / 2005 / Unscented Kalman filtering for additive noise case: augmented versus nonaugmented / IEEE Signal Processing Letters 12 (5)
3. [학술지(정기간행물)] - S. J. Julier / 2000 / A new method for the nonlinear transformation of means and covariances in filters and estimators / IEEE Transactions on Automatic Control 45 (3)
4. [학술대회논문] - S. J. Julier / 2004 / Unscented filtering and nonlinear estimation / Proc. of the IEEE 92 (3)
5. [단행본] - D. H. Tiierton / 2004 / Strapdown Inertial Navaigation Technology / The Institution of Electrical Engineers
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UCI(KEPA) : I410-ECN-0101-2013-569-003495539