• DocumentCode
    232651
  • Title

    The consistent extended Kalman filter

  • Author

    Jiang Yanguang ; Xue Wenchao ; Huang Yi ; Fang Haitao

  • Author_Institution
    Key Lab. of Syst. & Control, Acad. of Math. & Syst. Sci., Beijing, China
  • fYear
    2014
  • fDate
    28-30 July 2014
  • Firstpage
    6838
  • Lastpage
    6843
  • Abstract
    This paper studies the consistency of the extended Kalman filter(EKF) for a general class of nonlinear systems. Based on the EKF algorithm, we propose the CEKF as well as the tuning law for its parameters. The consistency of CEKF is proved. Finally, the feasibility and consistency are illustrated by the numerical simulation for an example system.
  • Keywords
    Kalman filters; nonlinear filters; nonlinear systems; numerical analysis; CEKF; consistent extended Kalman filter; nonlinear systems; numerical simulation; tuning law; Conferences; Control systems; Kalman filters; Laboratories; Mathematics; Simultaneous localization and mapping; Consistency; Extended Kalman Filter(EKF); Nonlinear system; The Boundary of the Filter Error;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (CCC), 2014 33rd Chinese
  • Conference_Location
    Nanjing
  • Type

    conf

  • DOI
    10.1109/ChiCC.2014.6896126
  • Filename
    6896126
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=232651