AN ALTERNATIVE DERIVATION OF THE MODIFIED GAIN FUNCTION OF SONG AND SPEYER

被引：41

作者：

GALKOWSKI, PJ

ISLAM, MA

机构：

[1] IBM Federal Sector Division, Owego

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1991年 / 36卷 / 11期

关键词：

D O I：

10.1109/9.100947

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We show a much simpler derivation of the modified gain function for the bearings only measurement problem as defined by Song and Speyer [1]. The new form of the gain is more numerically stable than the original form. We also show the relationship between the modified gain and the standard gain of an extended Kalman filter. Finally, we confirm that the modified gain extended Kalman filter does indeed perform better than the standard extended Kalman filter.

引用

页码：1323 / 1326

页数：4