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Reports on Geodesy and Geoinformatics

Tytuł artykułu

Study of the effectiveness of different Kalman filtering methods and smoothers in object tracking based on simulation tests

Autorzy Malinowski, M.  Kwiecień, J. 
Treść / Zawartość
Warianty tytułu
Języki publikacji EN
EN In navigation practice, there are various navigational architecture and integration strategies of measuring instruments that affect the choice of the Kalman filtering algorithm. The analysis of different methods of Kalman filtration and associated smoothers applied in object tracing was made on the grounds of simulation tests of algorithms designed and presented in this paper. EKF (Extended Kalman Filter) filter based on approximation with (jacobians) partial derivations and derivative-free filters like UKF (Unscented Kalman Filter) and CDKF (Central Difference Kalman Filter) were implemented in comparison. For each method of filtration, appropriate smoothers EKS (Extended Kalman Smoother), UKS (Unscented Kalman Smoother) and CDKS (Central Difference Kalman Smoother) were presented as well. Algorithms performance is discussed on the theoretical base and simulation results of two cases are presented.
Słowa kluczowe
PL filtr Kalmana   filtracja   rozszerzony filtr Kalmana   EKF   bezśladowy filtr Kalmana   UKF   śledzenie obiektu  
EN Kalman filtering   smoother   extended Kalman filter   derivative-free filtering   Central Difference Kalman Filter   unscented Kalman filter   object tracing  
Wydawca Wydział Geodezji i Kartografii Politechniki Warszawskiej
Czasopismo Reports on Geodesy and Geoinformatics
Rocznik 2014
Tom Vol. 97
Strony 1--22
Opis fizyczny Bibliogr. 24 poz., tab., rys., wykr.
autor Malinowski, M.
  • Geomatics, Geodesy and Spatial Economy Department, University of Technology and Life Sciences, Kaliskiego street 7, 85-796 Bydgoszcz, Poland,
autor Kwiecień, J.
  • Geomatics, Geodesy and Spatial Economy Department, University of Technology and Life Sciences, Kaliskiego street 7, 85-796 Bydgoszcz, Poland,
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Kolekcja BazTech
Identyfikator YADDA bwmeta1.element.baztech-9be28cd3-18f2-4934-91b9-87794e30308b
DOI 10.2478/rgg-2014-0008