卡尔曼滤波动态优化及其在遥控机器人空间实验中应用

KALMAN-FILTER DYNAMIC OPTIMIZATION AND ITS APPLICATION TO TELEROBOT IN SPACE-EXPERIMENT

本文是在文献[1]的基础上,讨论遥控机器人追踪自由飞行目标物的动态性能问题。应用黄金分割法和元素交替极小化法对扩展的卡尔曼滤波初值条件进行搜索并获得优化解。仿真结果表明优化方法简单可行,优化解满足系统性能要求。

This paper disscusses the dynamic performance of the telerobot which tracks automatically a free flying object, based on the reference[1]. Initial value conditions on Ex-panded-Kalman-Filter are searched by Gald-Cutting and Component-Minimum methods, and then optimized. Simulation results show that optimized methods are simple and reliable, optimal solutions satisfy performace requirements of the system.