Dual rate Kalman filter considering delayed measurement and its application in visual servo

Author

Binh Minh Nguyen ; Ohnishi, Wataru ; Yafei Wang ; Fujimoto, Hiroshi ; Hori, Yoichi ; Ito, Kei ; Odai, Masaki ; Ogawa, Hiroyo ; Takano, Erii ; Inoue, Takeru ; Koyama, Masanori

Author_Institution

Dept. of Adv. Energy, Univ. of Tokyo, Tokyo, Japan

fYear

2014

fDate

14-16 March 2014

Firstpage

494

Lastpage

499

Abstract

This paper describes a Kalman filter for a class of linear system in which: 1) The sampling time of measurement is longer than the control period. 2) The measurement is delayed. Using the delayed measurement and the present and past time predicted state, the pseudo-measurement in present time is constructed. The optimal Kalman gain is designed to minimize the trace of the covariance of estimation error. A dual rate recursive algorithm is proposed to estimate the state synchronously with the control signal. A visual servo system is demonstrated to verify the effectiveness of the proposed method.

Keywords

Kalman filters; covariance analysis; delays; linear systems; measurement; recursive estimation; state estimation; stochastic systems; visual servoing; delayed measurement; dual rate Kalman filter; dual rate recursive algorithm; estimation error covariance; linear system; optimal Kalman gain; pseudomeasurement; state estimation; visual servo system; Delay effects; Delays; Estimation; Kalman filters; Servomotors; Visualization; Kalman filter; visual servo;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control (AMC),2014 IEEE 13th International Workshop on

Conference_Location

Yokohama

Type

conf

DOI

10.1109/AMC.2014.6823331

Filename

6823331