Comparison of SUT - H-infinity - and UKF in Cartesian and Modified Polar Coordinates for bearings-only tracking

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	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)
	2011
会议名称	MTS/IEEE OCEANS Conference
会议日期	September 19-22, 2011
会议地点	Kona, HI
页码	6 pp.
中文摘要	The 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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Marine Technol Soc (MTS), IEEE, OES
会议录	OCEANS 2011
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-0-933957-39-8
WOS记录号	WOS:000299005801208
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7802]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 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]. 见:MTS/IEEE OCEANS Conference. Kona, HI. September 19-22, 2011.