講演抄録/キーワード |
講演名 |
2006-04-11 15:20
Tracking Method Using a Weighted Measurement Covariance Matrix ○Yoshio Kosuge(Nagasaki Univ.) SANE2006-25 |
抄録 |
(和) |
A WMCM method can be obtained from replacing the measurement covariance matrix B in the Riccati difference equation of a Kalman filter by lB where l is a constant parameter. In this paper, I present α-βfilters derived from a WMCM method. I also illustrate that there exists a unique parameter l which optimizes the tracking performance of an α-β filter as a function of a filter gain β. In order to evaluate, we use the steady state variance for a constant velocity target under the condition that the steady state errors for a constant acceleration target are constant. |
(英) |
A WMCM method can be obtained from replacing the measurement covariance matrix B in the Riccati difference equation of a Kalman filter by lB where l is a constant parameter. In this paper, I present α-βfilters derived from a WMCM method. I also illustrate that there exists a unique parameter l which optimizes the tracking performance of an α-β filter as a function of a filter gain β. In order to evaluate, we use the steady state variance for a constant velocity target under the condition that the steady state errors for a constant acceleration target are constant. |
キーワード |
(和) |
/ / / / / / / |
(英) |
tracking filter / H∞ filter / Kalman filter / α-β filter / sensor / / / |
文献情報 |
信学技報, vol. 106, no. 1, SANE2006-25, pp. 133-138, 2006年4月. |
資料番号 |
SANE2006-25 |
発行日 |
2006-04-03 (SANE) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
著作権に ついて |
技術研究報告に掲載された論文の著作権は電子情報通信学会に帰属します.(許諾番号:10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
PDFダウンロード |
SANE2006-25 |