Adaptative high-gain extended Kalman filter and applications
Adaptative high-gain extended Kalman filter and applications
Adaptative high-gain extended Kalman filter and applications
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tel-00559107, version 1 - 24 Jan 2011<br />
LIST OF FIGURES<br />
4.20 Effect of Parameter m2: Innovation . . . . . . . . . . . . . . . . . . . . . . . . 76<br />
4.21 Graphical Implementation of a real-time task. . . . . . . . . . . . . . . . . . . 78<br />
4.22 Compilation of a real-time task. . . . . . . . . . . . . . . . . . . . . . . . . . . 80<br />
4.23 Xrtailab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81<br />
4.24 Connections Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82<br />
4.25 The Testbed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82<br />
4.26 AEKF: Implementation Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 87<br />
4.27 Luenberger Observer in Real-time . . . . . . . . . . . . . . . . . . . . . . . . 90<br />
4.28 <strong>Kalman</strong> <strong>filter</strong> in Real-time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90<br />
4.29 AEKF in Real-time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91<br />
4.30 High-<strong>gain</strong> Parameter in Real-time . . . . . . . . . . . . . . . . . . . . . . . . 91<br />
5.1 A Subdivision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113<br />
C.1 Colored Noise Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163<br />
xxvi
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