DC Field | Value | Language |
---|---|---|
dc.contributor.author | Nam, K | ko |
dc.contributor.author | Tahk, Min-Jea | ko |
dc.date.accessioned | 2013-02-27T10:47:00Z | - |
dc.date.available | 2013-02-27T10:47:00Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1999-03 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON AUTOMATIC CONTROL, v.44, no.3, pp.603 - 608 | - |
dc.identifier.issn | 0018-9286 | - |
dc.identifier.uri | http://hdl.handle.net/10203/68062 | - |
dc.description.abstract | In the state estimation of a nonlinear system, the second-order filter is known to achieve better precision than the first-order filter [extended Kalman filter (EKF)] at the price of complex computation. If the measurement equation is linear in a transformed state variable, the complex measurement update equations of the second-order filter become as simple as the EKF case. Further, if the vector fields carrying the noise are constant, the high-order components in the variance propagation equation disappear. This suggests that if we make the measurement equation linear and make some vector fields constant through a coordinate transformation, we can simplify the second-order filter significantly while taking advantage of high precision. Finally, with an example of a falling body, we demonstrate through a Monte Carlo analysis the usefulness of the proposed method. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | NONLINEAR-SYSTEMS | - |
dc.title | A second-order stochastic filter involving coordinate transformation | - |
dc.type | Article | - |
dc.identifier.wosid | 000079081600023 | - |
dc.identifier.scopusid | 2-s2.0-0033098404 | - |
dc.type.rims | ART | - |
dc.citation.volume | 44 | - |
dc.citation.issue | 3 | - |
dc.citation.beginningpage | 603 | - |
dc.citation.endingpage | 608 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON AUTOMATIC CONTROL | - |
dc.contributor.localauthor | Tahk, Min-Jea | - |
dc.contributor.nonIdAuthor | Nam, K | - |
dc.type.journalArticle | Letter | - |
dc.subject.keywordAuthor | coordinate transformation | - |
dc.subject.keywordAuthor | extended Kalman filter (EKF) | - |
dc.subject.keywordAuthor | second-order filter | - |
dc.subject.keywordPlus | NONLINEAR-SYSTEMS | - |
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