dc.contributor.advisor | Bai, He | |
dc.contributor.author | Coleman, Kevin | |
dc.date.accessioned | 2021-02-22T22:41:10Z | |
dc.date.available | 2021-02-22T22:41:10Z | |
dc.date.issued | 2020-07 | |
dc.identifier.uri | https://hdl.handle.net/11244/328641 | |
dc.description.abstract | In this thesis, we study Invariant-EKF designs for invariant systems with disturbances. We identify two sets of sufficient conditions that preserve the invariance of systems when additive dynamic disturbances are applied. A first order approximation of the filtering covariance matrices is proposed that more accurately represents the uncertainties for the Invariant-EKF. Applying the developed theory, three different IEKF designs are presented for a unicycle robot under linear disturbances. Monte Carlo simulations demonstrate the contribution of the first order approximation and also illustrate the performance improvement of all three designs over the standard Extended Kalman Filter. | |
dc.format | application/pdf | |
dc.language | en_US | |
dc.rights | Copyright is held by the author who has granted the Oklahoma State University Library the non-exclusive right to share this material in its institutional repository. Contact Digital Library Services at lib-dls@okstate.edu or 405-744-9161 for the permission policy on the use, reproduction or distribution of this material. | |
dc.title | Augmented Invariant-EKF designs for simultaneous state and disturbance estimation | |
dc.contributor.committeeMember | Kamalapurkar, Rushikesh | |
dc.contributor.committeeMember | Faruque, Imraan | |
osu.filename | Coleman_okstate_0664M_16878.pdf | |
osu.accesstype | Open Access | |
dc.type.genre | Thesis | |
dc.type.material | Text | |
dc.subject.keywords | disturbance estimation | |
dc.subject.keywords | iekf | |
dc.subject.keywords | invariant systems | |
dc.subject.keywords | kalman filtering | |
dc.subject.keywords | nonlinear systems | |
thesis.degree.discipline | Mechanical and Aerospace Engineering | |
thesis.degree.grantor | Oklahoma State University | |