Title :
State estimation with delayed measurements considering uncertainty of time delay
Author :
Choi, Minyong ; Choi, Jinwoo ; Park, Jonghoon ; Chung, Wan Kyun
Author_Institution :
Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., Pohang, South Korea
Abstract :
State estimation problem with time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in a filter. A filter not considering this time delay cannot be used since a current measurement is related with a past state. These delayed measurements problem is solved with augmented state Kalman filter, and uncertainty of the delayed time is also resolved based on the probability distribution of the delay. The proposed method is analyzed by a simple example, and its consistency is verified.
Keywords :
Kalman filters; delays; probability; state estimation; augmented state Kalman filter; probability distribution; state estimation; time delay uncertainty; time delayed measurements; Added delay; Current measurement; Delay effects; Delay estimation; Filters; Measurement uncertainty; Noise measurement; Probability distribution; State estimation; Time measurement;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152887
