摘要：本文研究将改进的推广Ｋａｌｍａｎ滤波器（ＭＥＫＦ）应用于导弹被动制导问题。为了提高系统的可观性，我们采用一种双重指标来设计最优导引律。仿真结果表明，如果系统状态的均值较高，波动较小，那么ＭＥＫＦ的估计精度明显优于推广Ｋａｌｍａｎ滤波器（ＥＫＦ）。

摘要：A novel digital implementation of speed controller for a Permanent Magnet Synchronous Motor (PMSM) with disturbance rejection using conventional observer combined with Extended kalman Filter (EKF) is proposed. First, the EKF is constructed to achieve a precise estimation of the speed and current from the noisy measurement. Second, a proportional integral derivative (PID) controller is developed based on Linear Quadratic Regulator (LQR) to achieve speed command tracking performance. Then, an observer is designed and its error is utilized to provide load disturbance compensation. The proposed method greatly enhances the PMSM performance by reducing the control signal variation as well as the disturbance. The speed control performance is significantly improved compared to the case when we have an observer acting alone. The simulation results for the speed response and variation of the states when the PMSM is subjected to the load disturbance are presented. The results verify the effectiveness of the proposed method.

摘要：传统效益分配方法存在预算误差较大的缺点,为此提出基于kalman方程的建筑工程造价效益分配控制的研究。对建筑工程的统计数据进行计算,建立kalman效益分配模型,在分配模型的基础上,实现对建筑工程造价效益的优化分配。通过实验论证可以得出,基于kalman方程的建筑工程造价效益分配控制方法预算误差更小,结果更为精确。

摘要：电-永磁混合悬浮系统中,因电感时滞效应及含噪声电流输入导致过流保护不及时或误判,故采用FPGA硬件检测平台设计了基于卡尔曼的电流预报器。其步骤包括确定输入值、预测下一时刻电流值、利用VHDL语言进行系统设计。仿真表明,该系统能准确预测电流值并较强抑制噪声信号,对双向电流斩波器的过流保护可靠有效。

摘要：An attitude and heading reference system (AHRS) is a nonlinear state estimator unit for computing orientation in 3D space. This paper designs an AH RS using three approaches: an in variant observer, an invaria nt exte nded kalman filter (IEKF), and a conventional extended kalman filter (EKF). The three designs are validated in experiment versus a ground truth, dem on strati ng the practical interest of the invariant observer methodology and the advantage of the IEKF over the EKF under model uncertainty.

摘要：安装在车辆正前方的电荷耦合摄像机(Charge coupled device,CCD)实时获取道路图像,利用灰度和梯度特征构成目标函数,并用抛物线模型拟合道路边界,使弯道路径和直道路径的识别统一化。将识别分成三个阶段,并设定出各阶段的抛物线参数感兴趣区。采用遗传算法,对抛物线各参数进行优化。通过初始化编码、计算适应度、多点交叉及变异等过程,搜索出目标函数值近似最大的抛物线,即最优解。通过道路识别得到道路曲率、预瞄点处的侧向偏差和方位偏差等,为轨迹预测提供信息。基于运动学模型的车辆前轮转角,根据动力学特性对其进行修正。建立基于预瞄的车辆转向动力学连续模型,车辆前轮转角和道路曲率作为系统输入,根据系统的采样频率将连续模型离散化,运用kalman滤波理论设计状态观测器,实时观测车辆侧向速度和横摆角速度,从而得到车辆运动轨迹。试验表明,该方法既能在较复杂环境下较准确的拟合出路界线和预测出车辆运动轨迹,并具有较强的实时性。

摘要：目前国家气象中心业务GRAPES区域集合预报系统中集合变换卡尔曼滤波(ETKF)方法采用的是模拟观测信息,为进一步完善ETKF方法,拟对ETKF初值扰动通过引入真实探空观测资料,使扰动场能够代表真实观测的不确定信息,改善区域集合预报技巧。真实观测资料的引入会使得每日的观测数目和分布发生变化,这对ETKF方法而言可能会引起扰动振幅的不稳定,因此在引入真实观测资料的基础上设计了新的扰动振幅调节因子,通过格点空间中离散度和均方根误差关系来对初值扰动振幅进行自适应调整。从初值扰动结构、概率预报技巧以及降水预报效果等方面对比分析了基于模拟观测、真实观测以及真实观测结合新型调节因子的ETKF方案的差异,结果表明:真实探空资料能够有效应用于GRAPES区域集合预报系统中,真实观测资料与模拟观测资料相比较为稀疏,可以获得更大量级的初值扰动振幅;真实观测资料有助于提高区域集合的离散度,但对集合预报准确度以及概率预报结果的提高有限,对于降水预报效果提高也有限;新型的扰动振幅调节因子可以有效获得稳定的初值扰动振幅,并保持ETKF扰动结构,真实观测资料与扰动振幅自适应调节因子相结合,可以有效提高区域集合的概率预报结果,并有效提高降水预报效果。

摘要：Recursive state estimation methods have aroused substantial attraction among many researchers and in particular, the drives research fraternity has shown increased interest in recent years. State estimators that surrogate direct measurements play an integral part in the operation of modern a.c. drives. Their robustness and accuracy are very much decisive for the performance of the drive. In this paper, a comparative analysis of the three nonlinear filtering schemes to estimate the states of a three phase induction motor on the simulated model is presented. The efficacy of Ensemble kalman Filter (EnKF) against the traditional Jacobian based Filter or Extended kalman Filter (EKF) and almost forbidden, hitherto least-attempted Unscented kalman Filter (UKF) is very much exemplified. Theoretical aspects and comparative simulation results are investigated comprehensively with respect to three different scenarios viz., step changes in load torque, speed reversal, and low speed operation. Also, “Monte Carlo Simulation” runs have been exploited very extensively to show the superior practical usefulness of EnKF, by which the minimum mean square error (MMSE), which is often used as the performance index, ostensibly gets mitigated very radically by the proposed approach. The results throw light on alleviating the intrinsic intricacies encountered in EKF in parlance with the observer theory.

摘要：文中在自行研制的光纤陀螺的基础上,基于 DSP 芯片,采用传统的 kalman 滤波技术,采用内组合模式,设计并实现了 SINS/GPS 组合导航系统,通过车载实验与 PHINS 组合导航系统的比较,验证了自研组合导航系统的导航精度及可靠性。

摘要：该文介绍了一种实用的MEMS陀螺仪随机误差滤除方法,该方法是基于Allan方差和kalman滤波的一种组合式滤波方法,用Allan方差法辨识MEMS陀螺仪的随机误差项,以确定kalman滤波方程中过程噪声和观测噪声的协方差矩阵。并以挪威生产的STM202 MEMS陀螺仪进行了实例验证,效果良好。