TY - CHAP

T1 - Self-tuning of a kalman filter applied in a DC drive and in a kalman-based sensor

AU - Lassen, Jan Thore

AU - Mercorelli, Paolo

N1 - Conference code: 20

PY - 2019/5/1

Y1 - 2019/5/1

N2 - Kalman filters (KFs) are used in many different areas of application that require a solution to discrete-data linear filtering problems. Especially in the field of electric controls KFs represent a very used approach and an integral part of many states of the art of electric controls. However, the practical implementation of the KF often presents difficulties due to the challenging task of getting a good estimate of the covariance of the process noise represented by matrix Qk and of the covariance of the measurement noise represented by matrix Rk. A fitting and simultaneous choice of the matrices Qk and Rk based on a feedback loop within the KF realised by the filter samples can lead to a stable-operating filter after a reasonable amount of iterations. In this paper an approach to apply a feedback loop enabling dynamic values Qk and Rk is presented. This approach will be applied in a simulation using Matlab/Simulink.

AB - Kalman filters (KFs) are used in many different areas of application that require a solution to discrete-data linear filtering problems. Especially in the field of electric controls KFs represent a very used approach and an integral part of many states of the art of electric controls. However, the practical implementation of the KF often presents difficulties due to the challenging task of getting a good estimate of the covariance of the process noise represented by matrix Qk and of the covariance of the measurement noise represented by matrix Rk. A fitting and simultaneous choice of the matrices Qk and Rk based on a feedback loop within the KF realised by the filter samples can lead to a stable-operating filter after a reasonable amount of iterations. In this paper an approach to apply a feedback loop enabling dynamic values Qk and Rk is presented. This approach will be applied in a simulation using Matlab/Simulink.

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KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85069873977&partnerID=8YFLogxK

U2 - 10.1109/CarpathianCC.2019.8766057

DO - 10.1109/CarpathianCC.2019.8766057

M3 - Article in conference proceedings

T3 - Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019

BT - Proceedings of the 2019 20th International Carpathian Control Conference, ICCC 2019

A2 - Kot, Andrzej

A2 - Nawrocka, Agata

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 20st International Carpathian Control Conference - ICCC 2019

Y2 - 26 May 2019 through 29 May 2019

ER -