Publication detail
Derivative-free filters and their application in vehicle dynamics analysis
LAURINEC, M. BLAŤÁK, O. PORTEŠ, P.
Czech title
Filtry nevyžadujícíc derivace a jejich aplikace v analýze dynamiky vozidel
English title
Derivative-free filters and their application in vehicle dynamics analysis
Type
conference paper
Language
en
Original abstract
In this project we focused our attention on more complex mathematical description of vehicle dynamics which makes the conventional Kalman filter unusable. New filters capable to estimate states of even nonlinear systems are therefore presented. After their mathematical derivation a software implementation in Matlab/Simulink is shown, finally followed by a graphic comparison of obtained results. Confrontations with results from linear Kalman filter are also provided to show an improvement of the new filters.
Czech abstract
V tomto projektu jsme se zaměřili na komplexnější popis dynamiky vozidla jenž nedovoluje použít tradiční Kalmanův filtr pro odhad stavů. Jsou proto prezentovány nové filtry schopné odhadovat stav i nelineárních systémů. Po odvození jejich matematického popisu je ukázaná jejich implementace v programovém prostředí Matlab/Simulink následována grafickým srovnáním obdržených výsledků. Pro ilustraci je také uvedena konfrontace s výsledky z tradičního Kalmanova filtru.
English abstract
In this project we focused our attention on more complex mathematical description of vehicle dynamics which makes the conventional Kalman filter unusable. New filters capable to estimate states of even nonlinear systems are therefore presented. After their mathematical derivation a software implementation in Matlab/Simulink is shown, finally followed by a graphic comparison of obtained results. Confrontations with results from linear Kalman filter are also provided to show an improvement of the new filters.
Keywords in Czech
nelineární filtr, filtr nevyžadující derivace, dynamika vozidla, diskrétní diference
Keywords in English
nonlinar filter, derivative-free filter, vehicle dynamics, discrete differences
Released
23.06.2010
Publisher
Brno University of Technology, Faculty on Mechanical Engineering
Location
Brno
ISBN
978-80-214-4120-0
Book
Mendel 2010, 16th International Conference on Soft Computing
Edition number
1
Pages from–to
346–353
Pages count
8
BIBTEX
@inproceedings{BUT65677,
author="Marián {Laurinec} and Ondřej {Blaťák} and Petr {Porteš},
title="Derivative-free filters and their application in vehicle dynamics analysis",
booktitle="Mendel 2010, 16th International Conference on Soft Computing",
year="2010",
month="June",
pages="346--353",
publisher="Brno University of Technology, Faculty on Mechanical Engineering",
address="Brno",
isbn="978-80-214-4120-0"
}