This chapter estimates sequentially the state of the vehicle dynamic system using a sequence of noisy available measurements made on the system. The state‐space approach in the discrete‐time formulation is adopted when modeling. For dynamic state estimation, the discrete‐time approach is both widespread and convenient for real‐time application using onboard systems. The state space representation focuses attention on the state vector of a system. The state vector assumes that all relevant information required to describe the system is contained. The chapter presents the observability concept for linear and nonlinear systems, and then it formulates the equations of linear, extended and unscented Kalman filters (UKFs). Kalman filters; vehicle dynamics
Estimation Methods Based on Kalman Filtering
17.12.2012
24 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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