crta
Hrvatska znanstvena Sekcija img
bibliografija
3 gif
 Naslovna
 O projektu
 FAQ
 Kontakt
4 gif
Pregledavanje radova
Jednostavno pretraživanje
Napredno pretraživanje
Skupni podaci
Upis novih radova
Upute
Ispravci prijavljenih radova
Ostale bibliografije
Slični projekti
 Bibliografske baze podataka

Pregled bibliografske jedinice broj: 870157

Časopis

Autori: Ćesić, Josip; Marković, Ivan; Bukal, Mario; Petrović, Ivan
Naslov: Extended Information Filter on Matrix Lie Groups
Izvornik: Automatica (0005-1098) 82 (2017); 226-234
Vrsta rada: članak
Ključne riječi: Extended Kalman filters ; Information filter ; Lie groups
Sažetak:
In this paper we propose a new state estimation algorithm called the extended information filter on Lie groups. The proposed filter is inspired by the extended Kalman filter on Lie groups and exhibits the advantages of the information filter with regard to multisensor update and decentralization, while keeping the accuracy of stochastic inference on Lie groups. We present the theoretical development and demonstrate its performance on multisensor rigid body attitude tracking by forming the state space on the SO(3)×R^3 group, where the first and second component represent the orientation and angular rates, respectively. The performance of the filter is compared with respect to the accuracy of attitude tracking with parametrization based on Euler angles and with respect to execution time of the extended Kalman filter formulation on Lie groups. The results show that the filter achieves higher performance consistency and smaller error by tracking the state directly on the Lie group and that it keeps smaller computational complexity of the information form with respect to high number of measurements.
Projekt / tema: 533-19-15-0007
Izvorni jezik: ENG
Rad je indeksiran u
bazama podataka:
Current Contents Connect (CCC)
Scopus
SCI-EXP, SSCI i/ili A&HCI
Science Citation Index Expanded (SCI-EXP) (sastavni dio Web of Science Core Collectiona)
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo,Temeljne tehničke znanosti
URL Internet adrese: http://www.sciencedirect.com/science/article/pii/S0005109817302509
Broj citata:
Altmetric:
DOI: 10.1016/j.automatica.2017.04.056
URL cjelovitog teksta:
Google Scholar: Extended Information Filter on Matrix Lie Groups
Upisao u CROSBI: Ivan Marković (ivan.markovic@fer.hr), 12. Tra. 2017. u 10:41 sati



  Verzija za printanje   za tiskati


upomoc
foot_4