An Introduction to Kalman Filtering with MATLAB Examples

An Introduction to Kalman Filtering with MATLAB Examples
اسم المؤلف
Narayan Kovvali, Mahesh Banavar, and Andreas Spanias
التاريخ
21 سبتمبر 2023
المشاهدات
317
التقييم
(لا توجد تقييمات)
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An Introduction to Kalman Filtering with MATLAB Examples
Narayan Kovvali, Mahesh Banavar, and Andreas Spanias
SenSIP Center, Arizona State University
Contents
Acknowledgments . ix
1 Introduction . 1
2 The Estimation Problem 5
2.1 Background . 5
2.1.1 Example: Maximum-Likelihood Estimation in Gaussian Noise 6
2.2 Linear Estimation . 7
2.3 The Bayesian Approach to Parameter Estimation . 9
2.3.1 Example: Estimating the Bias of a Coin 9
2.4 Sequential Bayesian Estimation 10
2.4.1 Example: The 1-D Kalman Filter . 18
3 The Kalman Filter 23
3.1 Theory 23
3.2 Implementation 25
3.2.1 Sample MATLAB Code . 25
3.2.2 Computational Issues 25
3.3 Examples . 27
3.3.1 Target Tracking with Radar . 27
3.3.2 Channel Estimation in Communications Systems 31
3.3.3 Recursive Least Squares (RLS) Adaptive Filtering . 34
4 Extended and Decentralized Kalman Filtering 43
4.1 Extended Kalman Filter 43
4.1.1 Example: Predator-Prey System 46
4.2 Decentralized Kalman Filtering 49
4.2.1 Example: Distributed Object Tracking 53
5 Conclusion . 63
Notation . 65viii
Bibliography 67
Authors’ Biographies . 71

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