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Alpha beta filter

About: Alpha beta filter is a research topic. Over the lifetime, 5653 publications have been published within this topic receiving 128415 citations.


Papers
More filters
Proceedings ArticleDOI
10 Apr 2007
TL;DR: A coupled observer is presented that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in low-cost inertial measurement systems.
Abstract: This paper presents a coupled observer that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle. The observer is based on a non-linear complimentary filter framework and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in low-cost inertial measurement systems. Asymptotic stability of the observer estimates is proved as well as bounded energy of the observer error signals. Experimental data is provided for the proposed filter run on data obtained from an experiment involving a remotely controlled helicopter.

82 citations

Journal ArticleDOI
Kaiqiang Feng1, Jie Li1, Xiaoming Zhang1, Chong Shen1, Yu Bi1, Zheng Tao1, Jun Liu1 
19 Sep 2017-Sensors
TL;DR: The results demonstrate that the mean time consumption and the root mean square error of pitch/roll estimation under magnetic disturbances are reduced by 45.9% and 33.8%, respectively, when compared with a standard filter.
Abstract: In order to reduce the computational complexity, and improve the pitch/roll estimation accuracy of the low-cost attitude heading reference system (AHRS) under conditions of magnetic-distortion, a novel linear Kalman filter, suitable for nonlinear attitude estimation, is proposed in this paper. The new algorithm is the combination of two-step geometrically-intuitive correction (TGIC) and the Kalman filter. In the proposed algorithm, the sequential two-step geometrically-intuitive correction scheme is used to make the current estimation of pitch/roll immune to magnetic distortion. Meanwhile, the TGIC produces a computed quaternion input for the Kalman filter, which avoids the linearization error of measurement equations and reduces the computational complexity. Several experiments have been carried out to validate the performance of the filter design. The results demonstrate that the mean time consumption and the root mean square error (RMSE) of pitch/roll estimation under magnetic disturbances are reduced by 45.9% and 33.8%, respectively, when compared with a standard filter. In addition, the proposed filter is applicable for attitude estimation under various dynamic conditions.

82 citations

Journal ArticleDOI
TL;DR: A receding horizon Kalman finite-impulse response (FIR) filter is suggested for continuous-time systems, combining the Kalman filter with the recedingizons strategy, and turns out to be a remarkable deadbeat observer.
Abstract: A receding horizon Kalman finite-impulse response (FIR) filter is suggested for continuous-time systems, combining the Kalman filter with the receding horizon strategy. In the suggested filter, the horizon initial state is assumed to be unknown. It can always be obtained irrespective of unknown information on the horizon initial state. The filter may be the first stochastic FIR form for continuous-time systems that may have many good inherent properties. The suggested filter can be represented in an iterative form and also in a standard FIR form. The suggested filter turns out to be a remarkable deadbeat observer. The validity of the suggested filter is illustrated by numerical examples.

81 citations

Journal ArticleDOI
TL;DR: A novel full status observation strategy based on extended state observer (ESO) is proposed using inverter current feedback only and without grid voltage sensor, which is simple to implement, without the need of expert knowledge-based parameter tuning such as pole placement.
Abstract: In the context of distributed generation and renewable energy penetration toward smart grid, grid-connected inverter with LCL filter has drawn many attentions, whose current control conventionally requires several sensors to realize active damping and grid synchronization. In this paper, a novel full status observation strategy based on extended state observer (ESO) is proposed using inverter current feedback only and without grid voltage sensor. The proposed observation strategy contains observation and transformation process. Unlike conventional Luenberger observer, by using ESO, the system parameters do not appear in observation process, thus the observer dynamics and parameter mismatch error can be separately handled, providing more robust observation dynamics during parameter variation. Parameter mismatch study was carried out, and it is found that purposely choosing the observer parameters smaller than the real value can achieve relatively low estimation error and a large adaption range for parameter variation. The proposed observation strategy is simple to implement, without the need of expert knowledge-based parameter tuning such as pole placement. Experimental tests validated that the proposed observation-based control is able to give satisfactory performance in both dynamic and steady states, as well as adaption for system parameter variation.

81 citations

Journal ArticleDOI
Junbo Zhao1
TL;DR: In this paper, an extended Kalman filter (HEKF) based on the robust control theory is proposed to track system dynamic state variables, and an approach to tune the parameter of HEKF is presented as well.
Abstract: When implementing Kalman filters to track system dynamic state variables, the dynamical model is assumed to be accurate. However, this assumption may not hold true as power system dynamical model is subjected to various uncertainties, such as varying generator transient reactance in different operation conditions, uncertain inputs, or noise statistics. As a result, the performance of Kalman-type filters can be degraded significantly. To bound the influence of these uncertainties, this letter proposes an $H_\infty$ extended Kalman filter (HEKF) based on the robust control theory. An approach to tune the parameter of HEKF is presented as well. Numerical results on the IEEE 39-bus system demonstrate the effectiveness of the HEKF.

80 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202331
202277
20211
201910
201836
2017269