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Accession Number ADA564632
Title Novel Filtering Approach for the General Contact Lens Problem with Range Rate Measurements.
Publication Date Jul 2010
Media Count 10p
Personal Author E. Blasch G. Chen K. Plam X. Tian Y. Bar-Shalom
Abstract This paper proposes a Novel filtering algorithm for the general contact lens problem, where the measurement uncertainty region takes a thin, curved contact lens-like shape in the states' Cartesian coordinates. Such problems have severe measurement nonlinearity and will lead to consistency problems for existing nonlinear filtering techniques such as the extended Kalman filter (EKF) and the unscented Kalman filter (UKF). This problem is very ill-conditioned, which makes it extremely hard and expensive to use a particle filter (PF). In this paper, a General Measurement Adaptive Covariance rule (GMACR) is proposed, for which the consistency of EKF is guaranteed. This leads to a new filtering approach for the general contact lens problem - the General Measurement Adaptive Covariance Extended Kalman Filter (GMAC-EKF). Simulation results show that GMAC-EKF is consistent and has superior tracking accuracy. When the state estimate becomes sufficiently accurate, GMAC-EKF is equivalent to EKF and has the optimal tracking performance. The only drawback of the filter is that it has loss in accuracy at the early stage of the filtering due to the artificially enlarged measurement covariance. A hybrid filter combining the alternative extended Kalman filter and GMAC-EKF is also proposed, which yields the best filtering performance.
Keywords Algorithms
Cartesian coordinates
Ekf(Extended kalman filter)
General contact lens problem
Gmac- ekf(General measurement adaptive covariance extended k
Gmacr(General measurement adaptive covariance rule)
Hybrid systems
Kalman filtering
Mathematical filters
Nonlinear filtering
Nonlinear systems
Ukf(Unscented kalman filter)

Source Agency Non Paid ADAS
NTIS Subject Category 72B - Algebra, Analysis, Geometry, & Mathematical Logic
72F - Statistical Analysis
Corporate Author Connecticut Univ., Storrs. Dept. of Electrical and Computer Engineering.
Document Type Technical report
Title Note Conference paper.
NTIS Issue Number 1303
Contract Number FA9453-10-C-0020

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