Systems Engineering and Electronics ›› 2018, Vol. 40 ›› Issue (1): 159-164.doi: 10.3969/j.issn.1001-506X.2018.01.23

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Smoothing variable structure filter based on cubature transform and its application

LIN Xiaogong, JIAO Yuzhao, LI Heng, LIANG Kun, NIE Jun#br#

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  1. College of Automation, Harbin Engineering University, Harbin 150001, China
  • Online:2018-01-08 Published:2018-01-08

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Abstract:

In order to solve the problem that the smoothing variable structure filter requires that the system is continuous and differentiable, and the Jacoby matrix needs to be calculated for the state estimation of nonlinear systems, a ubature-smoothing variable structure filter (C-SVSF) is proposed. The algorithm avoids the computation of Jacoby matrix. Meanwhile, the algorithm will have some rounding error because of the computer word-length. The accumulation of errors can sometimes make the covariance matrix loss of positive definiteness and symmetry which would make the filter divergence. Thus, the square root C-SVSF is proposed. Finally, the simulation results show that the algorithm is effective in the simulation experiment of the dynamic positioning ships.

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