(已发表) Quasi-Stochastic Integration Filter for Nonlinear Estimation英文文献资料.pdfVIP

Hindawi Publishing Corporation Mathematical Problems in Engineering Volume 2014, Article ID 967127, 10 pages /10.1155/2014/967127 Research Article Quasi-Stochastic Integration Filter for Nonlinear Estimation Yong-Gang Zhang, Yu-Long Huang, Zhe-Min Wu, and Ning Li College of Automation, Harbin Engineering University, No. 145 Nantong Street, Nangang District, Harbin 150001, China Correspondence should be addressed to Yu-Long Huang; heuedu@163.com Received 21 October 2013; Revised 18 May 2014; Accepted 24 May 2014; Published 23 June 2014 Academic Editor: Dan Simon Copyright © 2014 Yong-Gang Zhang et al. his is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. In practical applications, numerical instability problem, systematic error problem caused by nonlinear approximation, and nonlocal sampling problem for high-dimensional applications, exist in unscented Kalman ilter (UKF). To solve these problems, a quasi- stochastic integration ilter (QSIF) for nonlinear estimation is proposed in this paper. nonlocal sampling problem is solved based on the unbiased property of stochastic spherical integration rule, which can also reduce systematic error and improve iltering accuracy. In addition, numerical instability problem is solved by using ixed radial integration rule. Simulations of bearing-only tracking model and nonlinear iltering problem with diferent state dimensions show that the proposed QSIF has higher iltering accuracy and good numerical stability as compared with existing methods, and it can also solve nonlocal sampling problem efectively. 1. Introduction he unscente