Proceedings of the 10th World Congress on Intelligent Control and Automation最新文献_第3页

Comparison of nonlinear filtering approach in tightly-coupled GPS/INS navigation system 非线性滤波方法在紧密耦合GPS/INS导航系统中的比较

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6358059

Qi Nie, Xiaoying Gao

{"title":"Comparison of nonlinear filtering approach in tightly-coupled GPS/INS navigation system","authors":"Qi Nie, Xiaoying Gao","doi":"10.1109/WCICA.2012.6358059","DOIUrl":"https://doi.org/10.1109/WCICA.2012.6358059","url":null,"abstract":"This paper proposes the fusion of GPS measurements and inertial sensor data from gyroscopes and accelerometers in tightly-coupled GPS/INS navigation systems. Usually, an extended Kalman filter (EKF) is applied for this task. However, as system dynamic model as well as the pseudorange and pseudorange rate measurement models are nonlinear, the EKF is sub-optimal choice from theoretical point of view, as it approximates the propagation of mean an covariance of Gaussian random vectors through these nonlinear models by a linear transformation, which is accurate to first-order only. The sigma-point Kalman filter (SPKF) family of algorithms use a carefully selected set of sample points to more accurately map the probability distribution than linearization of the standard EKF, leading to faster convergence from inaccurate initial conditions in position and attitude estimation problems, which achieves an accurate approximation to at least second-order. Therefore, the performance of EKF and SPKF applied to tightly-coupled GPS/INS integration is compared in numerical simulations. It is found that the SPKF approach offers better performances over standard EKF.","PeriodicalId":114901,"journal":{"name":"Proceedings of the 10th World Congress on Intelligent Control and Automation","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125840336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Individual pitch control of large-scale wind turbine based on load calculation 基于负荷计算的大型风力发电机个体桨距控制

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6359032

F. Gao

引用次数: 5

Fast eye localization based on a new haar-like feature 基于一种新的haar样特征的快速眼睛定位

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6359392

Yefei Chen, Jianbo Su

引用次数: 3

Stability analysis for continuous-time three-dimensional systems with state saturation 具有状态饱和的连续三维系统稳定性分析

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6358078

Dongyan Chen, Yanhui Ding, Yujing Shi

引用次数: 0

Data-based approach for the control of a class of nonlinear affine systems 一类非线性仿射系统的数据控制方法

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6358334

Zhuo Wang, Derong Liu

引用次数: 0

Optimization of power plant DCS control based on data communication 基于数据通信的电厂DCS控制优化

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6359041

Junjie Fu, Zhicheng Zhao, J. Long, Jun Cai, Pingkang Li

引用次数: 1

Identification and prediction of nonlinear multi-parameter based on least squares support vector machine 基于最小二乘支持向量机的非线性多参数识别与预测

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6357872

Yuanbin Hou, Ning Li

引用次数: 1

Two-degree-of-freedom control scheme for cascade control systems 串级控制系统的二自由度控制方案

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6358349

Jing-gang Zhang, Zhicheng Zhao

引用次数: 1

Descending rolling horizon procedure for equipment replacement problem 设备更换问题的下降滚动地平线程序

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6359158

Bing Wang, J. Liu, Dong-po Liu

{"title":"Descending rolling horizon procedure for equipment replacement problem","authors":"Bing Wang, J. Liu, Dong-po Liu","doi":"10.1109/WCICA.2012.6359158","DOIUrl":"https://doi.org/10.1109/WCICA.2012.6359158","url":null,"abstract":"To handle the computational complexity of large-scale optimization problem, a special rolling horizon decomposition procedure is developed to address equipment replacement problems with long decision-horizons and multiple alternatives in this paper. The global objective is to minimize the total equipment replacement expense. The rolling horizon procedure decomposes the whole decision-horizon into serial rolling sub-decision-horizons where equipment replacement subproblems are established based on local objectives involving partial global objective. The rolling horizon procedure can easily handle the computational complexity of a large-scale equipment replacement problem. However, the rolling segmentation and merely local optimization are not able to necessarily lead to the global optimal solution because local objectives are not completely consistent with the global one. A terminal penalty is added into the local objective function of each sub-problem to lessen the disadvantageous impact of horizon decomposition. The terminal penalty is the maximum evaluation of replacement expense increment for the latter sub-decision-horizons due to merely considering local optimization in the current sub-problem without any consideration of the global objective. The theoretical analysis proves that the rolling replacement procedure with terminal penalty can make the global objective function values descending as serial sub-problems are solved and their partial solutions are merged into the global solution step by step. An extensive experiment was conducted to test the effectiveness of descending rolling replacement procedure. The computational results also demonstrate that this procedure is better than traditional rolling horizon procedure for equipment replacement problem while only moderate computational efforts are needed.","PeriodicalId":114901,"journal":{"name":"Proceedings of the 10th World Congress on Intelligent Control and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122346087","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Improved CPHD filtering with unknown clutter rate 改进的杂波率未知的CPHD滤波

Proceedings of the 10th World Congress on Intelligent Control and Automation Pub Date : 2012-07-06 DOI: 10.1109/WCICA.2012.6359207

Xuetao Zheng, Liping Song

引用次数: 4