共查询到18条相似文献,搜索用时 203 毫秒
1.
针对直链式N体空间绳系系统(STS),将系绳绳长作为先验信息,在仅使用2个GPS(全球定位系统)传感器的条件下,提出了一种基于伪测量法的约束状态估计方法。首先,基于Udwadia-Kalaba方法建立了一种新颖的直链式N体STS通用动力学模型。然后,针对GPS传感器更新频率低和非线性系统模型线性化过程中雅可比矩阵计算复杂的问题,开发了一种改进的平方根无迹卡尔曼滤波(IUKF)算法。同时,基于李导数的局部弱可观的秩判据方法严格证明了本文估计方法的可观性。最后,仿真验证了本文方法的有效性。仿真结果表明所提方法能够保证系统状态估计精度和跟踪实时性。 相似文献
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传统的纯方位测量系统可观测性判据复杂且依赖目标运动参数. 通过线性化测量方程, 推导了可观测性判据Gram矩阵行列式的解析表达式, 得到了纯方位测量系统可观测性的充分必要条件, 即存在4个方位测量使得由它们构成的可观测性判别式不等于0, 其特点为判据仅依赖方位测量, 无需进行求导运算以及求解微分方程. 相似文献
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为解决现有超宽带-惯导组合定位系统在轮式移动机器人的定位精度低、依赖高精度IMU等问题,提出了一种采用误差状态卡尔曼滤波融合超宽带-惯导-里程计的定位算法,利用里程计的线速度测量和由非完整约束隐含的伪测量,提高了移动机器人的位置和姿态估计精度.同时,对于由多传感器测量模型组成的非线性系统,通过基于李导数的能观性秩条件分析方法对该系统的能观测性进行了详细的理论分析与数学证明,得到了系统局部弱可观的条件,从而确定了系统状态可以被无偏估计所需要的测量输出以及控制输入.仿真结果表明,在满足能观测性条件时,本文提出的方法能够有效地获得移动机器人较准确的六自由度位姿,且相比传统方法显著提升了定位精度. 相似文献
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被动式跟踪可观测性分析的非线性系统方法 总被引:12,自引:0,他引:12
目标的可观测性是被动式目标跟踪研究的基本问题,Fogel-Gavish方法给出了N阶运动目标可观测性的充要条件,但F-G方法对目标运动仅适于写成多项式形式,采用非线性系统可观测性分析理论,可以给出形式完整的被动式跟踪可观测性充要条件,并可直接由运动目标的任意运动方程给出了可观测性判据,对一二阶运动目标本文给出了分析和判据,讨论了高阶系统的推广,研究还表明,尽管就大多数判据而言被动式目标跟踪的可观测 相似文献
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基于多站测速的滤波定轨算法在航天测控领域具有重要的应用价值,研究了该系统的可观测性问题并提出一种适应弱观测条件的基于过大条件数的可观测度判定方法。首先,建立地惯系下的卫星运动状态方程以及站心系下的量测方程,然后,采用龙格库塔离散方法得到分析所需的非线性离散模型。最后,将多测站坐标投影代入可观测矩阵求取条件数进行可观测度定量判断,该方法相较基于条件数的传统判定方法能更好的适应弱观测条件下的可观测性分析。仿真结果验证了提出方法的有效性,表明该可观测度分析方法可以为多测站协同定轨的布站优化问题提供理论参考。 相似文献
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关于矩阵指数的PADE逼近新算法 总被引:3,自引:0,他引:3
基于广义逆矩阵Pade逼近的特点是在保持逼近阶的前提下,在构造过程中不需要
用到矩阵的乘法运算.利用该结果建立矩阵指数etA的一种新的非线性逼近算法.该方法与原
Pade近似法相比具有明显的优点,即它对奇异矩阵和高阶矩阵是适用的,并且所得到的算法
适合编程上机进行计算.给出的一个计算实例说明了算法的有效性.逼近公式的存在性和唯
一性得到了证明. 相似文献
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基于辅助变量的闭环系统子空间辨识 总被引:2,自引:0,他引:2
提出一种基于辅助变量的子空间辨识方法,适用于控制器信息未知以及参考输入已知的闭环系统参数辨识.通过将输入-输出数据块正交投影到辅助变量的行空间,直接得到扩展观测矩阵垂空间的估计.由此可从闭环系统中提取出对象模型信息,同时由SVD分解得到扩展观测矩阵与下三角Toeplitz矩阵的估计.给出了系统参数矩阵、噪声矩阵的计算方法.将所提出的子空间辨识方法应用于闭环动态的系统参数估计,其结果表明了该方法的有效性. 相似文献
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基于鲁棒主成分分析的人脸子空间重构方法 总被引:1,自引:0,他引:1
子空间方法是人脸识别中的经典方法,其基本假设是人脸图像处于高维图像空间的低维子空间中.但是,由于光照变化、阴影、遮挡、局部镜面反射、图像噪声等因素的影响,使得子空间假设难以满足.为此,提出一种基于鲁棒主成分分析的人脸子空间重构方法.该方法将人脸图像数据矩阵表示为满足子空间假设的低秩矩阵和表征光照变化、阴影、遮挡、局部镜面反射、图像噪声等因素的误差矩阵之和,利用鲁棒主成分分析法求解低秩矩阵和误差矩阵.实验结果表明,文中方法能够有效地重构人脸图像的低维子空间. 相似文献
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In this paper, we introduce locally Lipschitz observation systems for nonlinear semigroups and show that they can be represented by an ‘admissible’ nonlinear output operator defined on a suitable subspace. In the semilinear case, this concept fits well to the Lebesgue extension known from linear system theory. For semilinear systems, we show robustness of exact observability near equilibria under locally small Lipschitz perturbations. Finally, we apply our results to a damped nonlinear plate equation and a semilinear thermo-elastic system. 相似文献
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In this work, we give a sufficient algebraic condition for the local observability problem of invariant control systems on compact Lie groups such that the output map is not differentiable. In particular, the usual techniques involving Lie derivatives do not work. Our approach comes from the representation theory. We use the regular representation to construct a bilinear system on the Hilbert space of the square integrable function defined on the group to a finite-dimensional vector space. If this bilinear system is observable, then we prove that the invariant control system is locally observable. 相似文献
13.
Tony Gustafsson 《Automatica》2002,38(3):433-443
Subspace-based system identification is typically based on an estimate of the extended observability matrix. It is thus of great interest to investigate, and also optimize, the estimate of the observability matrix. Of special interest in this paper is the fact that the influence of certain weighting matrices is an unresolved issue in the literature on subspace identification. Here, an asymptotic analysis of the estimated observability matrix is presented. The main result of the analysis is that novel weighting matrices and pre-filters of instrumental variables are derived. 相似文献
14.
Shouwei Zhao 《International journal of systems science》2013,44(8):1522-1532
This article is concerned with the observability and accessibility of discrete impulsive nonlinear systems. A geometric method based on the differential geometric analysis and Lie group investigation is proposed. The infinitesimal invariance principle in Lie group theory is extended to the case of discrete impulsive nonlinear systems. By characterising the infinitesimal principle in terms of the sequences of codistribution and distribution, explicit criteria for the local observability and local accessibility of the system are derived, respectively. Additionally, two examples are provided to show that the criteria are convenient to check. 相似文献
15.
A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation 总被引:1,自引:0,他引:1
《Robotics, IEEE Transactions on》2008,24(5):1143-1156
16.
Z. Jane Wang 《Asian journal of control》2014,16(2):623-627
We consider continuous‐time LTI systems with either unknown‐input or with lack of information about the input and output derivatives. We compute the unknown‐input observability subspace and the observability subspace with unknown derivatives of input and output. We first formulate the unknown‐input observability subspace via projection matrices, then show that through having the unknown‐input observability subspace, one can easily evaluate the effect of known input and output signals but unknown derivatives on the observability subspace. Our method is demonstrated on the dynamics of a longitudinal aircraft in steady‐state flight. 相似文献
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The problem of closed-loop system identification for coloured noise system without any knowledge of feedback controller is considered. We develop a solution to this problem in the framework of subspace identification based on high-order cumulants. The key of the developed algorithm is using the properties that the third-order cumulants are insensitive to any coloured Gaussian noises. By post-multiplying a suitable instrumental variable to the noise terms, the cross third-order cumulants are constructed that become zero when the noises are Gaussian distributed, and meanwhile the column rank of extended observability matrix is maintained. Thus, the standard subspace identification algorithms can be extended to closed-loop system corrupted by arbitrary coloured noises. A numerical simulation is presented to demonstrate the proposed algorithm. 相似文献
18.
Michel Fliess Jean Lévine Philippe Martin François Ollivier Pierre Rouchon 《Systems & Control Letters》1997,31(2):77-83
The Lie rank condition for strong nonlinear accessibility is interpreted via the differential geometry of jets and prolongations of infinite order. It yields to a new Lie algebraic criterion and to the consideration of first integrals, which apply to nonlinear systems in quite general form; the latter characterization in particular is valid without distinguishing between the system variables and is independent of time-scalings. Weak accessibility is also considered. 相似文献