ArticleSensors (Basel, Switzerland)2022
A Novel Data Sampling Driven Kalman Filter Is Designed by Combining the Characteristic Sampling of UKF and the Random Sampling of EnKF.
Article in Sensors (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed.
- A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot Formation.Sensors (Basel, Switzerland) · 2022Article
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3 authors.
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Abstract
In order to improve the performance of the Kalman filter for nonlinear systems, this paper contains the advantages of UKF statistical sampling and EnKF random sampling, respectively, and establishes a new design method of sampling a driven Kalman filter in order to overcome the shortcomings of UKF and EnKF. Firstly, a new sampling mechanism is proposed. Based on sigma sampling with UKF statistical constraints, random sampling similar to EnKF is carried out around each sampling point, so as to obtain a large sample data ensemble that can better describe the characteristics of the system variables to be evaluated. Secondly, by analyzing the spatial distribution characteristics of the obtained large sample ensemble, a sample weight selection and assignment mechanism with the centroid of the data ensemble as the optimization goal are established. Thirdly, a new Kalman filter driven by large data sample ensemble is established. Finally, the effectiveness of the new filter is verified by computer numerical simulation experiments.
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