Covariance profiling for an adaptive Kalman Filter to suppress sensor quantization effects

Proceedings of the IEEE Conference on Decision and Control

Volumn 3, Issue , 2004, Pages 2680-2685

  Luong Van, Daniel ^a   Tordon, Michal J ^a   Katupitiya, Jayantha ^a  

^a UNIVERSITY OF NEW SOUTH WALES   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

ANALOG TO DIGITAL CONVERSION; BANDWIDTH; COMPUTER SIMULATION; ERROR ANALYSIS; GAUSSIAN NOISE (ELECTRONIC); MATHEMATICAL MODELS; SENSORS; SIGNAL ENCODING; STATE ESTIMATION;

COVARIANCE PROFILING; ENCODER RESOLUTION; FEEDBACK SIGNALS; NOISE REJECTION;

KALMAN FILTERING;

EID: 14244252024     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/cdc.2004.1428865     Document Type: Conference Paper

References (10)

1. Kavanagh, R.C. and Murphy, J.M.D., "The Effects of Quantization Noise and Sensor Nonideality on Digital Differentiator-based Rate Measurement", IEEE Transactions on Instrumentation and Measurement, vol. 47, no. 6, 1998, pp 1497-1463.
2. S. Venema and B. Hannaford, "Kalman Filter Based Calibration of Precision Motion Control", Proceedings of the IEEE International Conference on Intelligent Robots and Systems, vol. 2, no. 5-9, 1995, pp 224-229.
3. Efe, M., Bather, J.A. and Atherton, D.P., "An Adaptive Kalman Filter With Sequential Rescaling of Process Noise", Proceedings of the American Control Conference, 1999, pp 3913-3917.
4. Gene F. Franklin, G. F., Michael L. Workman and Dave Powell, Digital Control of Dynamic Systems, Addison-Wesley Longman Publishing Co., 1997, pp 434.
5. Rull, J., Sudria, A., Bergas, J. and Galceran, S., "Programmable logic design for an encoder-based velocity sensor in a DSP-controlled motion system", Proceedings of the IEEE International Conference on Emerging Technologies and Factory Automation, vol. 2, 1999, pp 1243-1247.
6. Briz, F., Cancelas, J.A. and Diez, A., "Speed measurement using rotary encoders for high performance AC drives", Proceedings of the IEEE International Conference on Industrial Electronics, Control and Instrumentation, vol. 1, no. 5-9, 1994, pp 538-542.
7. Belanger, P.R., "Estimation of angular velocity and acceleration from shaft encoder measurements", Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, 1992, pp 585-592.
8. Jeffrey B. Burl, Linear Optimal Control, Addison Wesley Longman, Inc., 1998, pp 56-57.
9. Mohinder S. Grewal and Angus P. Andrews, Kalman Filtering: Theory and Practice, John Wiley & Sons, Inc., 2001, pp 121.
10. Luong-Van D. and Katupitiya J., "An Adaptive Kalman Filter With Quadrature Encoder Quantisation Compensation", Proceedings of the IFAC 3rd IFAC Symposium on Mechatronic Systems, vol. 1, 2004, pp 110-114.