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1
State estimation in simultaneous localization and mapping for nonlinear processed with Extended Kalman Filter
100%
Adrjanowicz Ł. , Kubanek M. , Bobulski J.
Zeszyty Naukowe Wydziału ETI Politechniki Gdańskiej. Technologie Informacyjne
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2012
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tom T. 20
5--10
EN
This paper presents the use of Extended Kalman Filter (EKF) in the state estimation problem for nonlinear processes. Special focus is put on utilizing it in the algorithm of Simultaneous Localization and Mapping (SLAM). A number of simulations with a typical SLAM scenario were performed to examine the EKF properties. It is shown that the EKF algorithm can estimate the state accuracy in a typical SLAM scenario with relatively small error.
XX
Praca przedstawia wykorzystanie Rozszerzonego Filtru Kalamana (EKF) w problemie estymacji stanu dla procesów nieliniowych. Szczególny nacisk został położony na użyciu go w algorytmie Symultanicznej Lokalizacji i Mapowania (SLAM). W celu zbadania właściwości EKF przeprowadzono liczne symulacje w typowych dla SLAM scenariuszach postępowania. Wykazano, że algorytm EKF może być użyty do precyzyjnej estymacji stanu w typowym scenariuszu SLAM przy stosunkowo nieznacznym błędzie.
2
Content available Estimation of orientation and position of the manipulator using the extended kalman filter based on measurements from the accelerometers
94%
Kobierska A. , Rakowski P. , Podsędkowski L.
Journal of Automation Mobile Robotics and Intelligent Systems
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2019
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tom Vol. 13, No. 2
23--27
EN
Authors present the kinematic structure of measurement arm along with its construction for efficient estimation of orientation and position of the manipulator using extended Kalman filter. The major innovation of the arm is that it only uses accelerometers as gravity sensors for determining relative positions of the links. This article presents the problem of position estimation based on measurements with high noise and the use of the extended Kalman filter to limit the impact of noise on the measurement. Repeatability tests were performed using custom made test stand.
3
Content available remote Robust control of the three-phase voltage-source PWM rectifier using EKF load current observer
84%
Ende W. , Shenghua H.
Przegląd Elektrotechniczny
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2013
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tom R. 89, nr 3a
188--193
EN
A load current observer using EKF is proposed to compensate the changed load current for a robust dc voltage control without the inconvenient of the current sensor installation in the three-phase voltage-source PWM rectifier. Besides, a simplified model and the EKF observer based on it are also proposed. A small-signal model of the rectifier is also analyzed to prove the rationality of the feed-forward compensation. Simulation and experimental results demonstrate the proposed feed forward compensations with EKF observers based on both the normal and simplified models can improve the dynamic performance of the dc-link voltage satisfyingly.
PL
W artykule przedstawiono zastosowanie obserwatora prądu obciążenia z filtrem EKF, dla trójfazowego prostownika napięcia, celem ulepszenia kompensacji uchybu napięcia DC, bez instalowania czujników prądu. W celu weryfikacji działania układu ze sprzężeniem do przodu i obserwatorem EKF, wykonano badania symulacyjne i eksperymentalne proponowanego rozwiązania, które potwierdziły skuteczność i dynamikę działania.
4
Content available Real-time parameter estimation study for inertia properties of ground vehicles
84%
Kolansky J. , Sandu C. , Kolansky J. , Sandu C.
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nr 1
5
Content available Simulation and experimental evaluation of the EKF simultaneous localization and mapping algorithm on the wifibot mobile robot
83%
Ayadi N. , Derbel N. , Morette N. , Novales C. , Poisson G.
Journal of Artificial Intelligence and Soft Computing Research
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2018
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tom Vol. 8, No. 2
91--101
EN
In recent years, autonomous navigation for mobile robots has been considered a highly active research field. Within this context, we are interested to apply the Simultaneous Localization And Mapping (SLAM) approach for a wheeled mobile robot. The Extended Kalman Filter has been chosen to perform the SLAM algorithm. In this work, we explicit all steps of the approach. Performances of the developed algorithm have been assessed through simulation in the case of a small scale map. Then, we present several experiments on a real robot that are proceeded in order to exploit a programmed SLAM unit and to generate the navigation map. Based on experimental results, simulation of the SLAM method in the case of a large scale map is then realized. Obtained results are exploited in order to evaluate and compare the algorithm’s consistency and robustness for both cases.
6
Integration of INS with TACAN and altimeter
83%
Kaniewski P.
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2007
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tom Vol. 28
165-177
EN
The paper presents a design of integrated positioning system for aircraft. The system is composed of INS, TACAN and altimeter. It employs a Complementary Extended Kalman Filter, estimating INS position, velocity and attitude errors. Chosen simulation results, comparing accuracy of INS, TACAN/ALT subsystem and integrated INS/TACAN/ALT positioning system are included.
7
Content available Joint Channel and Carrier Estimation Using Extended Kalman Filter
71%
Hanza G.
International Journal of Electronics and Telecommunications
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2013
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tom Vol. 59, No. 1
33-39
EN
In this paper a proposal of joint channel and carrier estimation using extended Kalman filter (EKF) is presented. For the proposed algorithm simulations are performed and the results are compared with the separate channel estimation based on the Kalman filter (KF) and carrier estimation based on the extended Kalman filter (EKF).
8
Content available Dynamic performance of estimator-based speed sensorless control of induction machines using extended and unscented Kalman filters
59%
Horváth K. , Kuslits M.
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2018
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tom Vol. 3 (38), No. 1
129--144
EN
This paper presents an estimator-based speed sensorless field-oriented control (FOC) method for induction machines, where the state estimator is based on a self-contained, non-linear model. This model characterises both the electrical and the mechanical behaviours of the machine and describes them with seven state variables. The state variables are estimated from the measured stator currents and from the known stator voltages by using an estimator algorithm. An important aspect is that one of the state variables is the load torque and, hence, it is also estimated by the estimator. Using this feature, the applied estimator-based speed sensorless control algorithm may be operated adequately besides varying load torque. In this work, two different variants of the control algorithm are developed based on the extended and the unscented Kalman filters (EKF, UKF) as state estimators. The dynamic performance of these variants is tested and compared using experiments and simulations. Results show that the variants have comparable performance in general, but the UKF-based control provides better performance if a stochastically varying load disturbance is present.
9
Algorytmy nieliniowej filtracji stosowane w systemach pozycjonujących
48%
Konatowski S. , Kaniewski P.
Elektronika : konstrukcje, technologie, zastosowania
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2012
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tom Vol. 53, nr 12
100-103
PL
W artykule porównano dokładność procesu estymacji rozszerzonego i bezśladowego filtru Kalmana, filtru cząstkowego oraz filtrów cząstkowych wykorzystujących EKF i UKF. Jakość procesu estymacji przez wybrane filtry nieliniowe została scharakteryzowana poprzez wartości średnie i wariancje błędu średniokwadratowego. Dodatkowo zaprezentowane zostały wyniki złożonych badań symulacyjnych porównujących jakość estymacji analizowanych rodzajów filtrów nieliniowych dla różnych nieliniowości.
EN
The paper compares the accuracy of estimation process for Extended and Unscented Kalman Filters, Particle Filter, augmented Extended and Un- scented Kalman Filters. The accuracy of filtration was evaluated on the basis of means and variances of MSE error. Additionally, simulations results, which are to compare the quality of the analyzed nonlinear filters in presence of different nonlinearities, are shown.
10
Content available remote Comparison of three estimators used in a sensorless MPPT strategy for a wind energy conversion chain based on a PMSG
48%
Echchaachouai A. , El Hani S. , Hammouch A.
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2018
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tom R. 94, nr 3
18--22
EN
In this paper a WECS (Wind Energy Conversion System) based on a PMSG (Permanent Magnet Synchronous Generator) and implementing a sensorless MPPT (Maximum Power Point Tracking ) strategy is presented using three types of generator rotor speed and angle estimators; the Angle Tracking Observer, the Extended Kalman Filter and the Synchronous Reference Frame Phase Locked Loop. The main purpose is to compare these estimators. Simulation results in Matlab-Simulink allowing this comparison can be found at the end of this work.
PL
W artykule opisano generator z magnesami stałymi PMSG wykorzystujący strategię MPPT (śledzenie maksimum mocy). Porównano trzy typy estymatorów prędkości i kąta obrotu wirnika: czujnik kąta obrotu (angle tracking observer), filtr Kalmana i synchroniczną pętlę fazową (synchronous frame phase locked loop).
11
Content available Study of the effectiveness of different Kalman filtering methods and smoothers in object tracking based on simulation tests
48%
Malinowski M. , Kwiecień J.
Reports on Geodesy and Geoinformatics
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2014
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tom Vol. 97
1--22
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.
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