Hauv kev txheeb cais thiab tswj kev xav, Kalman filtering, tseem hu ua linear quadratic kwv yees, yog ib qho algorithm uas siv cov kev ntsuas ntsuas raws sijhawm, suav nrog cov suab nrov thiab …
Kalman lim ua dab tsi?
Kalman lim tau siv txhawm rau ntsuas qhov sib txawv ntawm qhov kev txaus siab thaum lawv tsis tuaj yeem ntsuas ncaj qha, tab sis kev ntsuas tsis ncaj muaj nyob. Lawv kuj tau siv los nrhiav qhov kev kwv yees zoo tshaj plaws ntawm cov xeev los ntawm kev sib txuas cov kev ntsuas los ntawm ntau lub sensors thaum muaj suab nrov.
Vim li cas Kalman lim zoo?
Kalman lim yog zoo tagnrho rau cov tshuab uas hloov pauv tsis tu ncua. Lawv muaj qhov zoo tshaj plaws uas lawv yog lub teeb ntawm lub cim xeeb (lawv tsis tas yuav khaws keeb kwm lwm yam tshaj li lub xeev dhau los), thiab lawv ceev heev, ua rau lawv zoo haum rau cov teeb meem ntawm lub sijhawm tiag tiag thiab cov kab ke.
Vim li cas Kalman lim thiaj nrov?
Siv lub qhov rais kalman lim rau relinearization yav dhau los xeev lossis thaum muaj kev sib raug zoo soj ntsuam los ntawm lub sij hawm cov kauj ruam, nws yog feem ntau yooj yim dua los siv cov kab zauv ib txwm. Tsis tas li ntawd, cov sib txawv matrix ntawm lub lim kalman tuaj yeem khiav mus rau qhov tsis zoo semidefiniteness dhau sijhawm.
Kalman lim rau taug qab yog dab tsi?
Kalman filtering (KF) [5] yog dav siv los taug qab cov khoom txav, uas peb tuaj yeem kwv yees qhov nrawm thiab txawm tias nrawm ntawm ib qho khoom nrog kev ntsuas ntawm nws qhov chaw.. Txawm li cas los xij, lubQhov tseeb ntawm KF yog nyob ntawm qhov kev xav ntawm cov lus tsa suab rau txhua yam khoom yuav tsum tau taug qab.
