| 使用遗传算法的自适应Kalman滤波器 |
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| 引用本文： | 曲铁军,杨旭东,葛升民.使用遗传算法的自适应Kalman滤波器[J].哈尔滨建筑大学学报,2003(6). |
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| 作者姓名： | 曲铁军 杨旭东 葛升民 |
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| 作者单位： | 哈尔滨工业大学控制科学与工程系，哈尔滨工业大学控制科学与工程系，哈尔滨工业大学控制科学与工程系 黑龙江哈尔滨 150001，黑龙江哈尔滨 150001，黑龙江哈尔滨 150001 |
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| 基金项目： | 国家自然科学基金(60104003) |
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| 摘 要： | 基于Magill的Kalman滤波器池结构,设计了使用遗传算法的自适应Kalman滤波器,给出了离线和在线两种实现方案。离线方案以辨识滤波参数为主要目的,进而可以对状态进行较准确的事后估计;在线方案以实时地对状态进行估计为目的。对滤波参数寻优使用具有良好性能的浮点数编码遗传算法,该算法与二进制编码遗传算法相比收敛速度更快、搜索全局最优的能力更强。仿真结果验证了所提出的自适应Kalman滤波器的有效性。
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| 关 键 词： | 自适应Kalman滤波器 滤波器池 滤波参数 遗传算法 |
Adaptive Kalman filter with genetic algorithm |
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| QU Tie-jun,YANG Xu-dong,GE Sheng-min,Dept. of Control Science and Engineering,Harbin Institute of Technology,Harbin ,China.Adaptive Kalman filter with genetic algorithm[J].Journal of Harbin University of Civil Engineering and Architecture,2003(6). |
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| Authors: | QU Tie-jun YANG Xu-dong GE Sheng-min Dept of Control Science and Engineering Harbin Institute of Technology Harbin China |
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| Affiliation: | QU Tie-jun,YANG Xu-dong,GE Sheng-min,Dept. of Control Science and Engineering,Harbin Institute of Technology,Harbin 150001,China |
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| Abstract: | Adaptive Kalman filter with genetic algorithm was designed on the configuration of Magill's Kalman filter bank with. Two realization schemes including off - line and on - line given. The off - line scheme aims primarily at identifying filtering parameters, and the postmortem estimation of states can be obtained more ac- curately while. The on - line scheme aims at real - time estimation of the states. A well - performed float - co- ded genetic algorithm was used to optimize the filtering parameters. In comparison with the binary-coded ge- netic algorithm, this algorithom has higher convergence speed and greater ability of finding global optimum. The efficiency of the proposed adaptive Kalman filter has been verified through simulation. |
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| Keywords: | adaptive Kalman filter filter bank filering parameter genetic algorithm |
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