变集合Kalman滤波理论研究与仿真

发布时间：2018-05-08 22:26

本文选题：非线性Kalman滤波 + 扩展Kalman滤波　；参考：《华中科技大学》2015年硕士论文

【摘要】：滤波的概念在很早就被提出,并且对于滤波的应用渗透在各个领域当中。应用过程中对滤波理论的研究也是在不断的被更新、被推广到更广的领域当中。其中Kalman在1960年提出的Kalman滤波因其理论简单、应用广泛,很快就被广大的研究者所接受。Kalman滤波和其他滤波一样,用于系统建模中噪声或者干扰的处理。Kalman滤波的研究从线性到非线性、从单一到复合、从理论到实践多角度的发展。其中包括最简单的线性Kalman滤波;推广到非线性情况下,出现的扩展Kalman滤波。本文主要涉及非线性Kalman滤波的研究。介绍了扩展Kalman滤波和变Kalman滤波。之后对Kalman滤波中存在的存储问题进行了分析,将集合思想引入研究当中,提出了集合Kalman滤波和变集合Kalman滤波的新模型。文章对非线性Kalman滤波的研究分为五个部分。第一部通过对研究背景、国内外研究现状和问题研究意义的讨论,为后续Kalman研究做好了良好的铺垫。第二部分主要介绍研究过程中的基本概念以及Kalman滤波的基本构成,并且阐述了线性Kalman滤波的思想过程,为第三部分理论研究打下了坚实的基础。第四部分是文章的核心部分,这一部分以扩展Kalman滤波和变Kalman滤波为基础,提出了新的Kalman滤波——集合Kalman滤波和变集合Kalman滤波。第四部分是对第三部分理论的应用支撑,采用仿真手法,分析仿真效果说明了Kalman滤波的实用性以及新的滤波模型的优良性。最后一个部分是全文的总结,更加系统概括的阐述了文章中所得到的结果。
[Abstract]:The concept of filtering was put forward early, and the application of filtering permeated into various fields. In the process of application, the research of filtering theory is constantly updated and extended to a wide range of fields. The Kalman filter proposed by Kalman in 1960, because of its simple theory and wide application, has been accepted by many researchers as well as other filters. The study of Kalman filtering for noise or interference in system modeling. The development of Kalman filtering is from linear to nonlinear, from single to composite, from theory to practice. It includes the simplest linear Kalman filter and the extended Kalman filter for nonlinear cases. This paper is mainly concerned with the study of nonlinear Kalman filtering. Extended Kalman filter and variable Kalman filter are introduced. Then, the storage problem in Kalman filtering is analyzed, the set idea is introduced into the research, and a new model of set Kalman filter and variable set Kalman filter is proposed. The study of nonlinear Kalman filtering is divided into five parts. The first part, through the discussion of the research background, domestic and foreign research status and the significance of the research, makes a good foundation for the follow-up Kalman research. The second part mainly introduces the basic concepts of the research process and the basic structure of Kalman filtering, and expounds the ideological process of linear Kalman filtering, which lays a solid foundation for the third part of the theoretical research. The fourth part is the core part of this paper. Based on extended Kalman filter and variable Kalman filter, a new Kalman filter, set Kalman filter and variable set Kalman filter, is proposed. The fourth part is to support the application of the third part of the theory. The simulation results show the practicability of the Kalman filter and the excellence of the new filtering model. The last part is a summary of the full text, more systematic summary of the results obtained in the article.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TN713

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