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Comparison of SUT - H-infinity - and UKF in Cartesian and Modified Polar Coordinates for bearings-only tracking
Xu JB(徐进宝); Feng XS(封锡盛); Ren SZ(任申真); Zeng JB(曾俊宝)
Department水下机器人研究室
Conference NameMTS/IEEE OCEANS Conference
Conference DateSeptember 19-22, 2011
Conference PlaceKona, HI
Author of SourceMarine Technol Soc (MTS), IEEE, OES
Source PublicationOCEANS 2011
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2011
Pages6 pp.
Indexed ByEI ; CPCI(ISTP)
EI Accession number20120314693815
WOS IDWOS:000299005801208
Contribution Rank1
ISBN978-0-933957-39-8
AbstractThe H-infinity filtering problem is considered for a class of nonlinear discrete-time systems for which a novel solution is developed by embedding the unscented transform technique into the extended H-infinity filter structure. This article compares a Scale Unscented Transform H-infinity filter (SUT - H-infinity) and UKF for the bearings-only tracking problem in Modified Polar Coordinates (MPC) and Cartesian coordinates (CC). Its objective is to track the kinematics (position, velocity) of a moving target using noise-corrupted bearing measurements. The SUT - H-infinity filter achieves higher accuracy and robustness against model uncertainty. Simulation results for the bearings-only tracking (BOT) are presented to illustrate that the MPC is better than CC in long distance.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7802
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation Shenyang, Liaoning Province, China
2.School of Graduate, Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Xu JB,Feng XS,Ren SZ,et al. Comparison of SUT - H-infinity - and UKF in Cartesian and Modified Polar Coordinates for bearings-only tracking[C]//Marine Technol Soc (MTS), IEEE, OES. Piscataway, NJ, USA:IEEE,2011:6 pp..
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