Note de curs - Departamentul Automatica, Calculatoare si ...
Note de curs - Departamentul Automatica, Calculatoare si ...
Note de curs - Departamentul Automatica, Calculatoare si ...
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T<br />
T<br />
− 1<br />
P( t) = M( t) − M( t) H ( t)[ H( t) M( t) H ( t) + Q ( t)] H( t) M( t)<br />
M( t) =<br />
T<br />
F( t − 1) P( t − 1) F ( t − 1) + Qw<br />
( t − 1)<br />
M( 0)<br />
= M0<br />
z( 0)<br />
= z0<br />
cu H( t)<br />
= ∂ h( t, z( t))<br />
, M( t) =<br />
∂ z<br />
T<br />
E{( z( t) − z( t))( z( t) − z( t)) } o matrice <strong>de</strong><br />
covariatie evaluatǎ înainte <strong>de</strong> mǎsurǎtorile <strong>de</strong> la momentul t, K(t) amplificarea<br />
Kalman, Q v (t) matricea <strong>de</strong> covariatie a mǎsurǎtorilor <strong>si</strong> z( t) estimarea lui z(t)<br />
înaintea masurǎtorii <strong>de</strong> la momentul t. Matricile F(t) sunt <strong>de</strong>finite prin<br />
submatricile lor F ij (i, j = 1, 2, 3):<br />
∂ f d<br />
∂ f d<br />
∂ f<br />
d<br />
F11 = F12 = F13<br />
=<br />
∂ x<br />
∂ x<br />
∂ θ<br />
d<br />
− 1<br />
⎛ ∂ f ⎞<br />
s<br />
∂ f<br />
s<br />
∂ fˆ<br />
d<br />
F21<br />
= −<br />
⎜<br />
∂ x<br />
⎟<br />
⎝ s ⎠ ∂ xd<br />
∂ xd<br />
− 1<br />
⎛ ∂ f ⎞<br />
s<br />
∂ f<br />
s<br />
∂ fˆ<br />
d<br />
F22<br />
= −<br />
⎜<br />
∂ x<br />
⎟<br />
⎝ s ⎠ ∂ xd<br />
∂ xs<br />
− 1<br />
⎛ ∂ f ⎞ ⎛<br />
⎞<br />
s ⎜<br />
∂ f<br />
s<br />
∂ fˆ<br />
d<br />
∂ f<br />
s<br />
F = −<br />
+ ⎟<br />
⎜<br />
⎟<br />
23<br />
⎝ ∂ xs<br />
⎠ ⎝ ∂ xd<br />
∂ θ ∂ θ ⎠<br />
F 31 = 0 F 32 = 0 F 33 = I<br />
De asemenea, matricea Q w (t) este <strong>de</strong>finitǎ prin submatricile ei Q ij (i, j = 1, 2, 3):<br />
Q<br />
22<br />
⎛ ∂ f ⎞ ⎛<br />
s<br />
∂ f ⎞<br />
s<br />
Q11 = Qd<br />
Q12 = − Qd<br />
⎜ ⎟ ⎜ ⎟ Q13 = 0<br />
⎝ ∂ x ⎠ ⎝ ∂ x ⎠<br />
⎛<br />
Q21<br />
= −<br />
⎜<br />
⎝<br />
1<br />
f<br />
s<br />
f<br />
s<br />
= ⎛ −<br />
Qs<br />
Qd<br />
⎝ ⎜ ∂ ⎞ ⎡<br />
⎟ + ⎛ xs<br />
⎠<br />
⎝ ⎜ ∂ ⎞ ⎛<br />
⎢<br />
⎟ ⎜<br />
∂<br />
x<br />
⎣⎢<br />
∂<br />
d ⎠ ⎝<br />
În expre<strong>si</strong>ile <strong>de</strong> mai sus<br />
∂<br />
∂<br />
Q<br />
23<br />
⎛<br />
= −<br />
⎜<br />
⎝<br />
∂ f<br />
s<br />
∂ x<br />
∂<br />
∂<br />
∂<br />
∂<br />
s<br />
f<br />
x<br />
f<br />
x<br />
s<br />
s<br />
⎞<br />
⎟<br />
⎠<br />
s<br />
d<br />
d<br />
− 1<br />
s<br />
T<br />
∂ f<br />
s<br />
∂ x<br />
T<br />
d<br />
s<br />
Q<br />
d<br />
− T<br />
⎞ f<br />
s<br />
f<br />
s<br />
⎟ + ⎛ Q<br />
⎠ ⎝ ⎜ ∂ ⎞ ⎛ ∂ ⎞<br />
⎟ θ ⎜ ⎟<br />
∂ θ ⎠ ⎝ ∂ θ ⎠<br />
⎞<br />
⎟<br />
⎠<br />
⎛ ∂ f ⎞<br />
Q = 0 Q = − Qθ<br />
⎜ ⎟<br />
⎝ ∂ θ<br />
− 1<br />
∂ f<br />
s<br />
∂ θ<br />
⎛ ∂ f<br />
⎜<br />
⎝ ∂ x<br />
Q<br />
θ<br />
v<br />
⎞<br />
⎟ Q = Q<br />
⎠<br />
s s<br />
31 32 33<br />
⎠ s<br />
f<br />
s<br />
x<br />
T<br />
− T<br />
∂ f<br />
∂ f<br />
s<br />
d<br />
∂ f<br />
d<br />
= =<br />
∂ z<br />
∂ z ∂ z<br />
z= z ( t + 1) z=<br />
z( t )<br />
θ<br />
T<br />
⎤ ⎛<br />
⎥ ⎜<br />
⎦⎥<br />
⎝<br />
∂<br />
∂<br />
f ⎞<br />
s<br />
⎟<br />
x ⎠<br />
s<br />
− T<br />
82