Description: kalman滤波 针对二阶系统的位置速度估计 适合于初学kalman滤波算法的朋友 代码含有详细解释-kalman filter for the position of second-order system is suitable for beginners speed estimation kalman filter algorithm friend code contains detailed explanations Platform: |
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Author:李楠 |
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Description: 卡尔曼滤波是一种数据处理方法，它是一种线性最小方差无偏估计准则，基于系统
状态估计和当前观测，通过引入状态空间而获得的新的状态估计.本篇论文陈述了卡尔曼滤
波的基本思路和算法；并通过仿真，显示卡尔曼滤波的功能，以及如何用它来跟踪方向确定、速度恒定的飞行器。-Kalman filter is a data processing method, which is a linear minimum variance unbiased estimation criteria, based on system state estimation and the current observations, obtained by introducing the state space of the new state estimate of the Kalman filter thesis statement the basic ideas and algorithms and through simulation, shows Kalman filtering functions, and how to use it to keep track of the direction determined constant speed aircraft. Platform: |
Size: 171008 |
Author:lili |
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Description: 针对感应电机扩展卡尔曼滤波器转速估计中难以取得卡尔曼滤波器系统噪声矩阵和测量噪声矩阵最优值的问题，提出了一种基于改进粒子群算法优化的扩展卡尔曼滤波器转速估计方法。算法通过融合遗传算法和粒子群算法的优点，采用可调整的算法模型对粒子群算法进行改进，将改进的粒子群算法对扩展卡尔曼滤波器中的系统噪声矩阵和测量噪声矩阵进行优化处理，将优化后的卡尔曼滤波器应用于感应电机转速估计。-
Extended Kalman Filter for induction motor speed estimation problem is difficult to obtain a Kalman filter system noise matrix and the measurement noise matrix optimal value proposed speed estimation method based on improved particle swarm optimization of the extended Kalman filter. By virtue of the genetic algorithm and particle swarm optimization algorithm fusion algorithm using the adjustable model PSO improvements that will improve the PSO extended Kalman filter system noise matrix and the measurement noise matrix optimization process, the optimized Kalman filter is applied to the induction motor speed estimate. Platform: |
Size: 1201152 |
Author:周 |
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Description: 针对小型无人机在无卫星导航信号条件下的导航问题, 结合光流及地标定位设计了使用摄像头、惯性测量器件、超声测距仪等传感器融合的无人机室内导航方法. 文章使用补偿角速率的光流微分法计算帧间像素点小位移, 并用前后误差算法提取精度较高的点, 避免像素点跟踪错误, 提高了光流测速的精度 对得到的光流场用均值漂移算法进行寻优, 得到光流场直方图峰值, 以此计算光流速度. 本文提出了无累积误差的连续地标定位算法, 实时测量无人机位置. 通过多速率卡尔曼滤波器对观测周期不一致的位置、速度信息进行最优估计. 在搭建的八旋翼无人机平台上试验, 将位置与速度测量结果分别与激光和PX4FLOW数据对比, 结果表明该导航方法可以有效抑制定位跳变与光流测量噪声误差, 给出精确的位置与速度估计.
-Problems for the Navigation satellite navigation signals in the absence of conditions, and in conjunction with optical flow landmark UAV design indoor navigation positioning method using the camera, inertial measurement device, an ultrasonic range finder sensor fusion article using the compensation angle computing optical flow rate of the inter-pixel differentiation small displacements, and extracted with high precision before and after the point of error algorithm, to avoid the tracking error pixel, improve the accuracy of optical flow speed optical flow field obtained for the mean shift algorithm optimization, the histogram peak optical flow, in order to calculate the optical flow velocity. in this paper, the landmark location algorithm continuously accumulated error is measured in real time the position of the UAV by multirate Kalman filter observation period inconsistent positions , optimal estimation speed information. tested on eight rotor UAV platform structures, the position a Platform: |
Size: 882688 |
Author:lou tayzan |
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Description: A novel method based on a combination of the Extended Kalman Filter (EKF) with Particle Swarm Optimization (PSO) to estimate the speed and rotor flux of an induction motor driveis presented. The proposed method will be performed in two steps. As a first step, the covariance matrices of state noise and measurement noise will be optimized in an off-line manner by the PSO algorithm. As a second step, the optimal values of the above covariance matrices are injected in our speed-rotor flux estimation loop (on-line).Computer simulations of the speed and rotor-flux estimation have been performed in order to investigate the effectiveness of the proposed method. Simulations and comparison with genetic algorithms (GAs) show that the results are very encouraging and achieve good performances. Platform: |
Size: 665750 |
Author:pudn0507@yahoo.fr |
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