- Tytuł:
- Study of the effectiveness of different Kalman filtering methods and smoothers in object tracking based on simulation tests
- Autorzy:
-
Malinowski, M.
Kwiecień, J. - Powiązania:
- https://bibliotekanauki.pl/articles/106773.pdf
- Data publikacji:
- 2014
- Wydawca:
- Politechnika Warszawska. Wydział Geodezji i Kartografii
- Tematy:
-
Kalman filtering
smoother
extended Kalman filter
derivative-free filtering
Central Difference Kalman Filter
unscented Kalman filter
object tracing
filtr Kalmana
filtracja
rozszerzony filtr Kalmana
EKF
bezśladowy filtr Kalmana
UKF
śledzenie obiektu - Opis:
- In navigation practice, there are various navigational architecture and integration strategies of measuring instruments that affect the choice of the Kalman filtering algorithm. The analysis of different methods of Kalman filtration and associated smoothers applied in object tracing was made on the grounds of simulation tests of algorithms designed and presented in this paper. EKF (Extended Kalman Filter) filter based on approximation with (jacobians) partial derivations and derivative-free filters like UKF (Unscented Kalman Filter) and CDKF (Central Difference Kalman Filter) were implemented in comparison. For each method of filtration, appropriate smoothers EKS (Extended Kalman Smoother), UKS (Unscented Kalman Smoother) and CDKS (Central Difference Kalman Smoother) were presented as well. Algorithms performance is discussed on the theoretical base and simulation results of two cases are presented.
- Źródło:
-
Reports on Geodesy and Geoinformatics; 2014, 97; 1-22
2391-8365
2391-8152 - Pojawia się w:
- Reports on Geodesy and Geoinformatics
- Dostawca treści:
- Biblioteka Nauki
Artykuł