State Estimation with Delayed Measurements Considering Uncertainty of Time Delay

被引：0
|
作者：
Choi, Minyong [1 ]
Choi, Jinwoo [1 ]
Park, Jonghoon [2 ]
Chung, Wan Kyun [3 ]
机构：
[1] Pohang Univ Sci & Technol, Dept Mech Engn, San 31, Pohang, South Korea
[2] SimLab Co Ltd, Seoul, South Korea
[3] Pohang Univ Sci & Technol, Fac Mech Engn, Pohang, South Korea
来源：
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
State estimation problem with time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in a filter. A filter not considering this time delay cannot be used since a current measurement is related with a past state. These delayed measurements problem is solved with augmented state Kalman filter, and uncertainty of the delayed time is also resolved based on the probability distribution of the delay. The proposed method is analyzed by a simple example, and its consistency is verified.
引用
收藏
页码：4467 / +
页数：3
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