TY - GEN
T1 - Multiple-model adaptive estimation for measurements with unknown time delay
AU - Lee, Kyuman
AU - Johnson, Eric N.
N1 - Publisher Copyright:
© 2017, American Institute of Aeronautics and Astronautics. All rights reserved.
PY - 2017
Y1 - 2017
N2 - If a sensor requires finite processing and communication time, then the current sensor reading actually corresponds to the states of a vehicle at some point in the past. At the sensor fusion algorithm, it is expected that large errors may accumulate over time if we simply ignore the fact that the sensor measurement is lagged. Over several decades, the Kalman filter based compensation techniques for the sensor time-delay were introduced. However, when the existence of measurement delays is not known or the delay values are uncertain, a multiple-model adaptive estimator converges to the correct model between a modified extended Kalman filter to handle the lagged measurements and a standard extended Kalman filter without time-delay compensation. Furthermore, the multiple Kalman filters running in parallel each generate an estimate of the state, and combine them to obtain a refined state estimate. The simulation work, including Monte Carlo results, is reported for a variety of cases.
AB - If a sensor requires finite processing and communication time, then the current sensor reading actually corresponds to the states of a vehicle at some point in the past. At the sensor fusion algorithm, it is expected that large errors may accumulate over time if we simply ignore the fact that the sensor measurement is lagged. Over several decades, the Kalman filter based compensation techniques for the sensor time-delay were introduced. However, when the existence of measurement delays is not known or the delay values are uncertain, a multiple-model adaptive estimator converges to the correct model between a modified extended Kalman filter to handle the lagged measurements and a standard extended Kalman filter without time-delay compensation. Furthermore, the multiple Kalman filters running in parallel each generate an estimate of the state, and combine them to obtain a refined state estimate. The simulation work, including Monte Carlo results, is reported for a variety of cases.
UR - http://www.scopus.com/inward/record.url?scp=85088754894&partnerID=8YFLogxK
U2 - 10.2514/6.2017-1260
DO - 10.2514/6.2017-1260
M3 - Conference contribution
AN - SCOPUS:85088754894
SN - 9781624104503
T3 - AIAA Guidance, Navigation, and Control Conference, 2017
BT - AIAA Guidance, Navigation, and Control Conference, 2017
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Guidance, Navigation, and Control Conference, 2017
Y2 - 9 January 2017 through 13 January 2017
ER -