센서리스 영구자석 동기전동기의 상태 추정을 위한 병렬 축소 차수 제곱근 무향 칼만 필터

문철(Cheol Moon),권영안(Young-Ahn Kwon) 대한전기학회 2016 전기학회논문지 Vol.65 No.6

This paper proposes a parallel reduced-order square-root unscented Kalman filter for state estimation of a sensorless permanent-magnet synchronous motor. The appearance of an unscented Kalman filter is caused by the linearization process error between a real system and classical Kalman model. The unscented transformation can make a more accurate Kalman model. However, the complexity is its main drawback. This paper investigates the design and implementation of the proposed filter with Potter and Carlson square-root form. The proposed parallel reduced-order square-root unscented Kalman filter reduces memory and code size, and improves numerical computation. And the performance is not significantly different from the unscented Kalman filter. The experimentation is performed for the verification of the proposed filter.

State Estimation of the Nonlinear Suspension System based on Nonlinear Kalman Filter

Sung-Soon Yim,Joon-Hong Seok,Ju-Jang Lee 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

In reality, a system is almost nonlinear. To estimate the parameter or state of this system, nonlinear approach is needed. The Extended Kalman Filter(EKF) and the Unscented Kalman Filter(UKF) are used to estimate this nonlinear problem. EKF uses first order Taylor expansion to approximate the nonlinear system, while UKF performs a stochastic linearization by using a weighted statistical linear regression process. The purpose of this paper is to estimate the state of the nonlinear suspension system based on the Extended Kalman Filter and the Unscented Kalman Filter. The simulation deals with state estimation of nonlinear suspension system by using these filters and is compared with the true state. Also LQR controller and output feedback PD controller will be designed by aid of UKF and EKF estimation. Simulation results show that two nonlinear Kalman filters are effective in estimating the state of a nonlinear suspension system.

확장칼만필터와 UNSCENTED 칼만필터를 이용한 우주발사체의 실시간 궤적추정

백정호,박상영,박은서,최규홍,임형철,박종욱,Baek, Jeong-Ho,Park, Sang-Young,Park, Eun-Seo,Choi, Kyu-Hong,Lim, Hyung-Chul,Park, Jong-Uk 한국우주과학회 2005 Journal of Astronomy and Space Sciences Vol.22 No.4

본 논문에서는 우주개발 중장기계획에 따라 개발 중인 KSLV-I 우주발사체가 나로 우주센터에서 발사될 경우를 가정하여 확장칼만필터와 Unscented 칼만필터를 통한 실시간 궤적추정 결과를 비교 분석하였다. 이를 위해 가상의 KSLV-I과 관측 레이더 3기를 바탕으로 실제 궤적을 생성하였으며, 관측자료는 실제 궤적에 관측오차를 고려하여 생성하였다. 이에 대해 초기 추정오차가 작은 경우와 큰 경우로 구분하고, 관측주기가 20Hz와 10Hz인 경우로 나누어 각각 두 필터를 적용해서 성능을 비교하였다. Unscented 칼만필터는 확장칼만필터보다 큰 초기 추정오차에 대해 수렴이 빠르고 정확도가 높으며, 느린 관측주기에도 우수한 성능을 보이는 것을 확인하였다. This research supposed when a fictitious KSIV-I space launch vehicle launches from NARO space center. This compared and analyzed the results from real-time trajectory estimation using the Extended Kalman Filter and the Unscented Kalman Filter. A virtual trajectory and observation data are generated for the fictitious KSLV-I and three measurement radars. The performances of both Otters are compared for several simulations with small initial errors, large initial errors, 20Hz and 10Hz data rate. The results show that the Unscented Kalman Filter yields faster convergence and more accurate than the Extended Kalman Filter for the cases with larger initial error and slower data rate conditions.

정밀 INS/GPS시스템을 위한 언센티드 칼만 필터 기반의 역방향 필터연구

권재현 ( Jay Hyoun Kwon ),이종기 ( Jong Ki Lee ),이지선 ( Ji Sun Lee ) 한국지리정보학회 2010 한국지리정보학회지 Vol.13 No.2

언센티드 칼만 필터 기반의 역방향 필터를 유도하고 시뮬레이션 테스트를 통하여 확장 칼만 필터, 언센티드 칼만 필터, 그리고 확장 칼만 스무더로부터의 위치결과와 비교 분석하였다. 시뮬레이션은 GPS의 수신환경이 극단적으로 좋지 않을 경우를 고려하여 40m×40m 의 공간에서 4개의 곡선 그리고 5개의 직선구간으로 이루어진 궤적에서 시작점과 끝점만을 기지점으로 가정하여 수행하였다. 실험 결과 스무더는 순방향 필터에 비하여 최대 위치 오차값이 약 8~9m 정도 크게 감소하는 결과를 보여주었다. 스무더의 경우 위치오차를 직선구간과 곡선구간으로 나누어 분석하였는데, 언센티드 칼만 스무더가 확장 칼만 스무더에 비하여 직선 구간에서는 최대 10cm, 곡선 구간에서는 최대 23cm 향상된 결과를 나타내었다. Unscented Kalman filter based backward filter is derived and the positions from extended Kalman filter, unscented Kalman filter, and extended Kalman smoother are compared and analyzed through a simulation test. Considering the poor GPS signal reception, the simulation is performed under the assumption of only the start and end points of the trajectory, composed of 4 curves and 5 straight sections in the area of 40m×40m, are known. The test shows that the smoothers generate much better positioning results of 8~9m improvement compared to those from the forward filters. For the comparison between the smoothers, the analysis is performed separately for the curves and straight segments. In both cases, the unscented Kalman smoother generates better positioning error; 10cm and 23cm improved positioning results in straight segment and curves, respectively.

Reduced-Order Unscented Kalman Filter for Sensorless Control of Permanent-Magnet Synchronous Motor

Cheol Moon,Young Ahn Kwon 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.2

The unscented Kalman filter features a direct transforming process involving unscented transformation for removing the linearization process error that may occur in the extended Kalman filter. This paper proposes a reduced-order unscented Kalman filter for the sensorless control of a permanent magnet synchronous motor. The proposed method can reduce the computational load without degrading the accuracy compared to the conventional Kalman filters. Moreover, the proposed method can directly estimate the electrical rotor position and speed without a back-electromotive force. The proposed Kalman filter for the sensorless control of a permanent magnet synchronous motor is verified through the simulation and experimentation. The performance of the proposed method is evaluated over a wide range of operations, such as forward and reverse rotations in low and high speeds including the detuning parameters.

Reduced-Order Unscented Kalman Filter for Sensorless Control of Permanent-Magnet Synchronous Motor

문철,권영안 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.2

The unscented Kalman filter features a direct transforming process involving unscented transformation for removing the linearization process error that may occur in the extended Kalman filter. This paper proposes a reduced-order unscented Kalman filter for the sensorless control of a permanent magnet synchronous motor. The proposed method can reduce the computational load without degrading the accuracy compared to the conventional Kalman filters. Moreover, the proposed method can directly estimate the electrical rotor position and speed without a back-electromotive force. The proposed Kalman filter for the sensorless control of a permanent magnet synchronous motor is verified through the simulation and experimentation. The performance of the proposed method is evaluated over a wide range of operations, such as forward and reverse rotations in low and high speeds including the detuning parameters.

Reduced-Order Unscented Kalman Filter for Sensorless Control of Permanent-Magnet Synchronous Motor

Moon, Cheol,Kwon, Young Ahn The Korean Institute of Electrical Engineers 2017 Journal of Electrical Engineering & Technology Vol.12 No.2

The unscented Kalman filter features a direct transforming process involving unscented transformation for removing the linearization process error that may occur in the extended Kalman filter. This paper proposes a reduced-order unscented Kalman filter for the sensorless control of a permanent magnet synchronous motor. The proposed method can reduce the computational load without degrading the accuracy compared to the conventional Kalman filters. Moreover, the proposed method can directly estimate the electrical rotor position and speed without a back-electromotive force. The proposed Kalman filter for the sensorless control of a permanent magnet synchronous motor is verified through the simulation and experimentation. The performance of the proposed method is evaluated over a wide range of operations, such as forward and reverse rotations in low and high speeds including the detuning parameters.

GPS 음영지역에서 두 개의 칼만 필터를 사용한 위치 보정에 관한 연구

이영권,하길수,조위덕 한국차세대컴퓨팅학회 2014 한국차세대컴퓨팅학회 논문지 Vol.10 No.6

이 논문은 GPS 음영지역에서 움직이는 물체의 위치와 자세를 추정하는 새로운 다중 필터 관성 항법 장치를 제안한 다. 무인 시스템에서의 위치 추정 시스템은 위성 항법 시스템(GPS)과 관성 항법 시스템(INS)를 이용한 연구가 많 이 진행되어 왔다. 본 논문에서는 과거에 연구되었던 확장 칼만 필터 보다 성능이 향상된 시스템을 제안하며, 제안하 는 시스템은 자세 상태와 위치/속도 상태, 두 가지 상태를 갖는다. IMU 센서 오차를 보상하기 위해, 두 상태는 각각 다른 필터를 사용한다. 자세 상태는 Uncented Kalman Filter(UKF)를 사용하고 위치 상태는 Kalman Filter를 사용하며 위치 보정을 위한 UKF와 KF의 모델을 직접 유도한다. 빠르고 정확한 UKF의 특성을 이용하여 자세 추정 에도 사용할 수 있었다. 관성 항법 시스템이 두 필터의 조합은 보다 빠르고 정확한 것으로 시스템 성능을 향상시킨다. This paper proposes a new multi-filtered inertial navigation system to estimate the attitude and position of moving objects in GPS signal unavailability area. The location estimation system in an unmannded system has been studied using satellite navigation system (GPS) and inertial navigation system (INS). In this paper, we propose an improved performance system that compare with Extended Kalman Filter. This system has two states, the one is attitude state and the other is position/velocity state. For compensating IMU sensor errors, each of the two states uses a different filter: the attitude state used the UKF and the position state uses the KF. The fast and precise characteristics of the UKF has been properly utilized for the attitude estimation, while superior dynamic characteristics of the UKF has been fully adopted for the position estimation. The combination of these two filters in an inertial navigation system improves the system performance to be faster and more accurate. Experimental results demonstrate the superiority of this approach comparing to the conventional ones.

언센티드 칼만/FIR 하이브리드 필터를 이용한 실내 위치 추정

박정민(Jung Min Pak),안춘기(Choon Ki Ahn),임묘택(Myo Taeg Lim),송문규(Moon Kyou Song) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.11

This paper proposes a new nonlinear filtering algorithm that combines the unscented Kalman filter (UKF) and the finite impulse response (FIR) filter. The proposed filter is called the unscented Kalman/FIR hybrid filter (UKFHF). In the UKFHF algorithm, the UKF is used as the main filter, which produces state estimates under ideal conditions. When failures of the UKF are detected, the FIR filter is operated. Using the output of the FIR filter, the UKF is reset and rebooted. In this way, the UKFHF recovers from failures. The proposed UKFHF is applied to indoor human localization using wireless sensor networks. Through simulations, the performance of the UKFHF is demonstrated in comparison with that of the UKF.

복수 PSD와 비콘을 이용한 칼만필터 기반 상대항법에 대한 연구

송정규(Jeonggyu Song),정준호(Junho Jeong),양승원(Seungwon Yang),김승균(Seungkeun Kim),석진영(Jinyoung Suk) 한국항공우주학회 2018 韓國航空宇宙學會誌 Vol.46 No.3

본 논문에서는 복수 Position Sensitive Detector(PSD) 센서와 IR Beacon Module(적외선 비콘 모듈)을 이용하여 우주비행체의 랑데부/도킹/군집 운용과 같은 근접 운용을 위한 칼만 필터 기반의 상대항법 알고리즘 연구를 수행한다. PSD 센서와 적외선 비콘 모듈은 각각 Target Satellite과 Chaser Satellite에 장착되어 위성의 상대 위치와 상대 자세 정보를 획득하여 위성간 근접운용에 사용한다. 각각의 상대 항법 기법의 성능을 비교 분석하기 위하여 수치 시뮬레이션을 수행한다. 상대항법 알고리즘에 사용된 PSD 센서와 적외선 비콘 모듈의 광학적 모델링과 작동 원리를 기반으로 칼만필터의 측정 모델을 구성한다. 확장 칼만필터(EKF)와 무향 칼만 필터(UKF)는 우주비행체의 병진 운동 및 회전 운동에 대한 운동학 및 동역학적 특성을 활용하는 측정 융합에 기반을 둔 확률론적 상대항법 기법으로 사용된다. EKF와 UKF, 두 필터의 상대 자세 및 상대 위치 추정 성능을 비교한다. Target Satellite과 Chaser Satellite에 장착되는 PSD 센서와 적외선 비콘 모듈의 개수와 상대항법 기법의 변화에 따른 수치 시뮬레이션을 수행하여 성능 변화를 확인하였다. This paper proposes Kalman Filter-based relative navigation algorithms for proximity tasks such as rendezvous/docking/cluster-operation of spacecraft using PSD Sensors and Infrared Beacon Modules. Numerical simulations are performed for comparative analysis of the performance of each relative-navigation technique. Based on the operation principle and optical modeling of the PSD Sensor and the Infrared Beacon Module used in the relative navigation algorithm, a measurement model for the Kalman filter is constructed. The Extended Kalman Filter(EKF) and the Unscented Kalman Filter(UKF) are used as probabilistic relative navigation based on measurement fusion to utilize kinematics and dynamics information on translational and rotation motions of satellites. Relative position and relative attitude estimation performance of two filters is compared. Especially, through the simulation of various scenarios, performance changes are also investigated depending on the number of PSD Sensors and IR Beacons in target and chaser satellites.