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A Novel Case of Practical Exponential Observer Using Extended Kalman Filter
Ji, Daxiong1; Deng, Zhi1; Li, Shuo2; Ma, Dongfang1; Wang, Tao1; Song, Wei1; Zhu, Shiqiang1; Wang, Zhi3; Pan, Hongjun4; Sharma, Sanjay5; Yang, Xu6
发表期刊IEEE ACCESS
ISSN2169-3536
2018
卷号6页码:58004-58011
通讯作者Ji, Daxiong(jidaxiong@zju.edu.cn)
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.
关键词Discrete-time nonlinear system extended Kalman filter exponential observer restrictions spectral norm
DOI10.1109/ACCESS.2018.2870491
关键词[WOS]STATE ESTIMATION ; COOPERATIVE NETWORKS ; NONLINEAR ESTIMATION ; SYSTEMS ; TRACKING
收录类别SCI
语种英语
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]
项目资助者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
WOS研究方向Computer Science ; Engineering ; Telecommunications
WOS类目Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS记录号WOS:000449002100001
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/22831
专题机器人应用与理论组
通讯作者Ji, Daxiong
作者单位1.Zhejiang Univ, Ocean Coll, Key Lab Ocean Observat Imaging Testbed Zhejiang P, Zhoushan 316000, Peoples R China
2.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110000, Liaoning, Peoples R China
3.Zhejiang Univ, Coll Control Sci & Engn, Zhoushan 316000, Peoples R China
4.Zhejiang Ocean Univ, Sch Math Phys & Informat Sci, Zhoushan 316000, Peoples R China
5.Plymouth Univ, Sch Engn, Plymouth PL4 8AA, Devon, England
6.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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Ji, Daxiong,Deng, Zhi,Li, Shuo,et al. A Novel Case of Practical Exponential Observer Using Extended Kalman Filter[J]. IEEE ACCESS,2018,6:58004-58011.
APA Ji, Daxiong.,Deng, Zhi.,Li, Shuo.,Ma, Dongfang.,Wang, Tao.,...&Yang, Xu.(2018).A Novel Case of Practical Exponential Observer Using Extended Kalman Filter.IEEE ACCESS,6,58004-58011.
MLA Ji, Daxiong,et al."A Novel Case of Practical Exponential Observer Using Extended Kalman Filter".IEEE ACCESS 6(2018):58004-58011.
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