JP2017134515A - 状態推定装置 - Google Patents
状態推定装置 Download PDFInfo
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- JP2017134515A JP2017134515A JP2016012550A JP2016012550A JP2017134515A JP 2017134515 A JP2017134515 A JP 2017134515A JP 2016012550 A JP2016012550 A JP 2016012550A JP 2016012550 A JP2016012550 A JP 2016012550A JP 2017134515 A JP2017134515 A JP 2017134515A
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Claims (1)
- 前回得られた物体の状態の推定値に基づいて前記物体の状態の予測値を得ると共に、前記物体の状態の観測値に基づいて前記予測値を更新し、更新された前記予測値に基づいて今回の推定値を得るカルマンフィルタによって、前記物体の状態を推定する状態推定装置であって、
前回の前記推定値に基づいて前記予測値を得る予測部と、
前記物体の状態を観測して前記観測値を得る観測部と、
前記観測値と前記予測値とに基づいて演算を行い今回の前記推定値の候補である推定値候補を得る観測更新部と、
前記予測値と前記推定値候補との差が所定範囲外である場合には、前記観測更新部による前記演算で用いられる所定のパラメータを変更し、前記差が前記所定範囲内である場合には、前記推定値候補を今回の前記推定値として出力する収束確認部と、を備え、
前記差が前記所定範囲外である場合には、前記差が前記所定範囲内になるまで、前記収束確認部による前記パラメータの変更と、変更後の当該パラメータを用いた前記観測更新部による前記演算と、が繰り返し実行される、状態推定装置。
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108357498A (zh) * | 2018-02-07 | 2018-08-03 | 北京新能源汽车股份有限公司 | 一种车辆状态参数确定方法、装置及汽车 |
CN108983205A (zh) * | 2018-04-17 | 2018-12-11 | 哈尔滨工程大学 | 一种量测不可靠时的滤波初值获取方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2012052954A (ja) * | 2010-09-02 | 2012-03-15 | Japan Radio Co Ltd | 測位装置 |
JP2012215485A (ja) * | 2011-04-01 | 2012-11-08 | Seiko Epson Corp | 位置算出方法及び位置算出装置 |
JP2014089113A (ja) * | 2012-10-30 | 2014-05-15 | Yamaha Corp | 姿勢推定装置及びプログラム |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP2012052954A (ja) * | 2010-09-02 | 2012-03-15 | Japan Radio Co Ltd | 測位装置 |
JP2012215485A (ja) * | 2011-04-01 | 2012-11-08 | Seiko Epson Corp | 位置算出方法及び位置算出装置 |
JP2014089113A (ja) * | 2012-10-30 | 2014-05-15 | Yamaha Corp | 姿勢推定装置及びプログラム |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108357498A (zh) * | 2018-02-07 | 2018-08-03 | 北京新能源汽车股份有限公司 | 一种车辆状态参数确定方法、装置及汽车 |
CN108983205A (zh) * | 2018-04-17 | 2018-12-11 | 哈尔滨工程大学 | 一种量测不可靠时的滤波初值获取方法 |
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