Sensor Fusion of Delay and Non-delay Signal using Unscented Kalman Filter with Moving Covariance
会议名称：《2010 Chinese Control and Decision Conference》
会议日期：2010年
学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置]
基 金：supported by the Forestry Projects in the National Science & Technology Pillar Program 2006BAD18130805 Key Research Projects for the Forestry Science & Technology 2006-60,P.R.of China
关 键 词：unscented Kalman filter(UKF) sensor fusion delay signal nonlinear system
摘 要：正This paper describes the design of unscented Kalman filter（UKF） to implement fusion of the delay and non-delay data for nonlinear discrete-time system in order to achieve the excellent dynamic *** proposed a fusion method with UKF that only needs to update the stored covariance between two different time instants,instead of classical method,which is re-performing Kalman operation at every step from the time of measured delay signal to current *** solve the fusion method,the measurement update equations of UKF algorithm is slightly modified in order to discuss and analysis the proposed fusion method *** less computational cost comparing to the classical method and the uniformity of the computation in every iteration,the UKF is superior to extended Kalman filter（EKF） and offer much advantage in terms of estimation performance,which is verified by using MATLAB simulation on the high-update rate Wheel Mobile Robot（WMR）.