Essays about: "Kalmanfilter"

Showing result 1 - 5 of 28 essays containing the word Kalmanfilter.

  1. 1. GPS-oscillation-robust Localization and Visionaided Odometry Estimation

    University essay from KTH/Maskinkonstruktion (Inst.)

    Author : HONGYI CHEN; [2019]
    Keywords : Adaptive Extended Kalman Filter; Localization; Stereo visual odometry; GPS outage; Adaptivt förlängt Kalmanfilter; lokalisering; stereovisuell odometri; GPS avbrott;

    Abstract : GPS/IMU integrated systems are commonly used for vehicle navigation. The algorithm for this coupled system is normally based on Kalman filter. However, oscillated GPS measurements in the urban environment can lead to localization divergence easily. READ MORE

  2. 2. Development and Evaluation of a Robocentric SLAM Algorithm

    University essay from Uppsala universitet/Signaler och System

    Author : Max Holmberg; [2018]
    Keywords : ;

    Abstract : In this master thesis the front end of a Simultaneous Localization And Mapping(SLAM) system is developed in the programming language C++ and themeta-operating system ROS (Robot Operating System). The algorithms are based onprevious work done at the Swedish defense research agency (FOI) and are a part of aGPS free positioning system developed for military use. READ MORE

  3. 3. Design and Implementation of an Exogenous Kalman Filter for UAVs

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

    Author : Patrik Sjöberg; [2018]
    Keywords : ;

    Abstract : State estimations for nonlinear systems are often done using the ExtendedKalman Filter (EKF), which has good performance in terms of minimum variancefor the estimation error. However, global stability is not guaranteed,and the filter has a risk of becoming unstable. READ MORE

  4. 4. Analysis of Velocity Estimation Methods for High-Performance Motion Control Systems

    University essay from KTH/Reglerteknik

    Author : Ruth Aleksandrauskaite; [2018]
    Keywords : ;

    Abstract : The majority of all commercial electronics hardware is manufactured usingSurface Mount Technology (SMT). Nevertheless, the increased complexityand miniaturization of electronics impose tough performance requirementson the automation process. READ MORE

  5. 5. Efficient and Robust Attitude Determination and Control System Design for the MIST CubeSat

    University essay from KTH/Rymdteknik

    Author : Federico Raiti; [2018]
    Keywords : ;

    Abstract : This thesis investigated different configurations of the attitude determination and control system (ADCS) for the MIST satellite, to find a satisfying trade-off between computational demand and estimation/pointing accuracy. A model of the satellite dynamics was developed and used in a simulation. READ MORE