Essays about: "EKF"

Showing result 1 - 5 of 103 essays containing the word EKF.

  1. 1. Benchmarking VisualInertial Odometry Filterbased Methods for Vehicles

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Muhammad Zahid; [2021]
    Keywords : visual inertial odometry; VIO; sensor fusion; state estimation; recursive filter; navigation; autonomous vehicles; visuell tröghetsodometri; VIO; sensorfusion; tillståndsuppskattning; rekursivt filter; navigering; autonoma fordon;

    Abstract : Autonomous navigation has the opportunity to make roads safer and help perform search and rescue missions by reducing human error. Odometry methods are essential to allow for autonomous navigation because they estimate how the robot will move based on the available sensors. READ MORE

  2. 2. Invariant Extended Kalman Filter for Measurements on Lie Groups

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Viktor Kull; [2021]
    Keywords : ;

    Abstract : Since its creation, the extended Kalman filter (EKF) has become an industry standard for state estimation. However, the EKF is designed for Euclidean spaces, which causes challenges when adapting it to non-Euclidean spaces such as Lie groups, which includes 3D attitude. READ MORE

  3. 3. Online parameter estimation in electric motors

    University essay from Lunds universitet/Industriell elektroteknik och automation

    Author : Abizar Sadikot; [2021]
    Keywords : Technology and Engineering;

    Abstract : The permanent magnet synchronous machine (PMSM) can be used for a wide range of applications. In this case, the motor that is examined is inspired of Husqvarna's handheld electrical tools where the motor is part of its electrical chainsaw. The idea is to investigate and simulate different algorithms for online parameter estimation for the PMSM. READ MORE

  4. 4. Extended and Unscented Kalman Filtering for Estimating Friction and Clamping Force in Threaded Fasteners

    University essay from Uppsala universitet/Signaler och system

    Author : Mohammad Al-Barghouthi; [2021]
    Keywords : Estimation Theory; Extended Kalman Filter; EKF; Unscented Kalman Filter; UKF; Observability; Friction; Clamping Force; Tightening; Torque Controlled; Bolt; Threaded Fasteners;

    Abstract : Threaded fasteners tend to break and loosen when exposed to cyclic loads or potent temperature variations. Additionally, if the joint is held tightly to the structure, distortion will occur under thermal expansion issues. READ MORE

  5. 5. Development of an ICP-based Global Localization System

    University essay from Linköpings universitet/Reglerteknik

    Author : Rebecka Nylén; Katherine Rajala; [2021]
    Keywords : localization; ICP; EKF; automatic control;

    Abstract : The most common way to track the position of a vehicle is by using the Global Navigation Satellite System (GNSS). Unfortunately, there are many scenarios where GNSS is inaccessible or provides low precision, and it can therefore be vulnerable to only rely on GNSS. READ MORE