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AN IMPROVED CONSTRAINED NONLINEAR STATE ESTIMATOR FOR TARGET TRACKING

机译:目标跟踪的改进约束非线性状态估计器

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摘要

In a series of earlier papers, the first author developed an estimator which generates an optimal sequential estimate of the state of a linear discrete-time dynamic system in which the state is subject to an instantaneous constraint. In the third paper of the series, an extended estimator, based on the optimal linear estimator, was developed for the constrained nonlinear estimation problem. In this paper, the extended nonlinear estimator is revised. One of the critical steps in the development of an extended estimator is the quasi-linearization step. In this step, the terms in the Taylor series expansion which have been evaluated at some nominal state trajectory are instead evaluated at the most recent 'best' available state estimate. In developing the estimator, the point in the development at which the quasi-linearization takes place is not fixed. In the earlier paper, the quasi-linearization is performed about midway through the overall development. In this paper, the quasi-linearization is taken at the last possible point in the development. The result is an improved version of the extended constrained nonlinear sequential estimator.
机译:在一系列较早的论文中,第一作者开发了一种估计器,该估计器生成线性离散时间动态系统状态的最优顺序估计,在该系统中,状态受到瞬时约束。在该系列的第三篇论文中,针对约束非线性估计问题,开发了基于最优线性估计量的扩展估计量。本文对扩展的非线性估计量进行了修正。扩展估计器开发中的关键步骤之一是准线性化步骤。在此步骤中,泰勒级数展开中已在某些标称状态轨迹上进行评估的各项将改为在最新的“最佳”可用状态估算下进行评估。在开发估计器时,拟线性化发生的发展点并不固定。在较早的论文中,准线性化是在整个开发过程中进行的。在本文中,拟线性化是在开发的最后一个可能点进行的。结果是扩展约束非线性顺序估计器的改进版本。

著录项

  • 来源
    《Systems Science》 |2004年第4期|p.31-39|共9页
  • 作者单位

    Department of Electrical Engineering and Computer Science, University of California, Irvine, Irvine, CA 92697-2625;

  • 收录信息 美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 一般工业技术;
  • 关键词

  • 入库时间 2022-08-17 23:10:41

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