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Title of Journal: Int J Control Autom Syst

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Abbravation: International Journal of Control, Automation and Systems

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Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers

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10.1007/s13738-016-0869-z

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2005-4092

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Nonsymmetric unscented transformation with applic

Authors: Kwangjin Kim Chan Gook Park
Publish Date: 2010/08/03
Volume: 8, Issue: 4, Pages: 776-781
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Abstract

To overcome the extended Kalman Filter EKF limitation the unscented transformation UT was developed as a method to propagate mean and covariance information through nonlinear transformation However the ordinary UT has both local and global sampling problems In this paper nonsymmetric unscented transformation NSUT is proposed to solve these problems The sigma point sets of the NSUT are nonsymmetrically located with respect to the zeroth sigma point set which is equal to the prior mean Then the weights of the sigma points are derived by using some conditions for mean and covariance The nonsymmetric unscented Kalman filter NSUKF based on the sigma points and weights of the NSUT are applied to the inflight alignment IFA with a large heading error With a low cost MEMS IMU the simulations are carried out at an Stype trajectory to analyze the performance of the proposed methodKwangjin Kim received his BS and MS degrees in Control and Instrumentation Engineering from Kwangwoon University in 1995 and 1997 respectively In 2008 he received his PhD degree from the School of Mechanical and Aerospace Engineering at Seoul National University From 1997 to 2004 he was a researcher at the Agency for Defense Development Daejun Korea He is a Chief Research Engineer at the Defense Research Center DOOSAN DST Co Ltd His research interests include navigation systems nonlinear estimation and integrated systemsChan Gook Park received his BS MS and PhD degrees in Control and Instrumentation Engineering from the Seoul National University in 1985 1987 and 1993 respectively He worked as a postdoctoral fellow at the Engineering Research Center for Advanced Control and Instrumentation Seoul National University in 1993 From 1994 to 2003 he was with Kwangwoon University as an Associate Professor In 2003 he joined the faculty of the School of Mechanical and Aerospace Engineering at Seoul National University where he is currently a Professor In 1998 and 2009 he worked with Prof Jason L Speyer at UCLA and Prof Panagiotis Tsiotras at Georgia Inst of Technology respectively as a visiting scholar His research interests include filtering techniques inertial navigation systems GPS/INS integration and personal navigation systems

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  1. Finite-time control for discrete-time switched systems with time delay
  2. Backward orientation tracking control of mobile robot with N trailers
  3. Autopilots for small unmanned aerial vehicles: A survey
  4. An LMI Approach to consensus in second-order multi-agent systems
  5. A Gaussian distributed resampling algorithm for mitigation of sample impoverishment in particle filters
  6. Periodic use of time-varying state feedbacks for the receding horizon control of bilinear systems
  7. Optimized ellipsoid algorithm for LMI feasibility problems
  8. Improved stability criteria for T-S fuzzy systems with time-varying delay by delay-partitioning approach
  9. High gain adaptive observer design for sensorless state and parameter estimation of induction motors
  10. Adaptive consensus control for multiple Euler-Lagrange systems with external disturbance
  11. Position coordinate representation of flying arrow and analysis of its performance indicator
  12. Exploration of unknown object by active touch of robot hand
  13. A recursive state estimator in the presence of state inequality constraints
  14. Over networks H ∞ filtering for discrete singular jump systems with interval time-varying delay
  15. A grey probability measure set based mobile robot position estimation algorithm
  16. Fault diagnosis and fault tolerant control for non-Gaussian time-delayed singular stochastic distribution systems
  17. The localization of a mobile robot using a pseudolite ultrasonic system and a dead reckoning integrated system
  18. Parameter convergence in adaptive feedback linearizing control of limit cycling systems with input saturation
  19. Lyapunov-based feedback design and experimental verification of IC engine speed control
  20. Cadaver study for spinal fusion surgery using an image-guided surgical robot system
  21. Nonlinear decoupling control of four-wheel-steering vehicles with an observer
  22. Motion control of an omnidirectional mobile platform for trajectory tracking using an integral sliding mode controller
  23. Robust control under constraints of linear systems with Markovian jumps
  24. Robust stabilization of singular markovian jump systems with uncertain switching
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