アウトオブシーケンス測定を用いたトラッキングのためのアンサンブルカルマンフィルタ

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2012/10/01

タイトル(英語): Ensemble Kalman Filter for Out of Sequence Measurement Tracking

著者名: シリチャイ　ポンサラユッ　（東京工業大学機械制御システム専攻），山北　昌毅（東京工業大学機械制御システム専攻）

著者名(英語): Sirichai Pornsarayouth (Mechanical and Control Engineering, Tokyo Institute of Technology), Masaki Yamakita (Mechanical and Control Engineering, Tokyo Institute of Technology)

キーワード: アウトオブシーケンスの測定，アンサンブルカルマンフィルタ，信号遅延，マルチセンサーフュージョン　　Out of Sequence Measurements，Ensenble Kalman filters，Signal delay，Multisensor fusion

要約(英語): In target tracking problem, we can use multiple sensor to improve accuracy of the system. However, measurements from various sources are sometimes delayed and come at different rates. These measurements are known as out of sequence measurements (OOSMs). In other researches, Extended Kalman Filter (EKF), Particle Filter (PF) and Ensemble Kalman Filter (EnKF) provide us good solutions to OOSM problems. A solution via EKF is fast but cannot be applied to strong nonlinear systems. On the other hand, although PF is applicable to nonlinear system, the computational cost is so high that it is difficult to apply to real applications. In this paper, we propose techniques to solve OOSM problem using EnKF whose properties lay between EKF and PF. It is applicable to strong nonlinear system, requires less computation than PF. At the end of this paper, we investigate the performance of the solution via EnKF comparing to others. The results show competitive performance and attractiveness of solving OOSM via EnKF.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.132 No.10 （2012） 特集：医療関連電子技術のニュートピック

本誌掲載ページ: 1617-1625 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/132/10/132_1617/_article/-char/ja/