Optimal polynomial filter of degrees 3 and 4 and its application to an automotive system

Author

Basin, Michael V. ; Garcia, Ma Aracelia Alcorta

Author_Institution

Dept. of Phys. & Math. Sci., Autonomous Univ. of Nuevo Leon, Mexico

fYear

2001

fDate

2001

Firstpage

872

Lastpage

877

Abstract

This paper presents the optimal nonlinear filter for a stochastic system state given by a polynomial equation of degree 3 or 4 and linear observations confused with white Gaussian noises. The obtained filtering equations are applied to solution of the state estimation problem for a nonlinear automotive system. Simulation results are compared for the optimal polynomial filter given in this paper and the linear Kalman-Bucy filter applied to the linearized system

Keywords

AWGN; Kalman filters; automobiles; nonlinear control systems; nonlinear filters; polynomial approximation; polynomials; state estimation; automotive system; filtering equations; linear Kalman-Bucy filter; linearized system; nonlinear automotive system; optimal nonlinear filter; optimal polynomial filter; polynomial equation; state estimation problem; stochastic system; white Gaussian noises; Automotive engineering; Filtering; Gaussian noise; Nonlinear equations; Nonlinear filters; Nonlinear systems; Polynomials; Riccati equations; State estimation; Stochastic systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on

Conference_Location

Mexico City

Print_ISBN

0-7803-6733-2

Type

conf

DOI

10.1109/CCA.2001.973979

Filename

973979