Title :
Implicit Jacobian for linearised state estimation in nonlinear systems
Author :
Quine, B. ; Uhlmann, Jeffrey ; Durrant-Whyte, Hugh
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
Abstract :
This article describes a method of implementation linearised approximations to nonlinear systems that does not require the direct derivation of Jacobian matrices. The approach is simpler to implement than current techniques used with extended Kalman filters and other linearised estimation and control algorithms
Keywords :
Jacobian matrices; Kalman filters; linearisation techniques; nonlinear systems; state estimation; state-space methods; Jacobian matrices; extended Kalman filters; linearised approximations; linearised state estimation; nonlinear systems; Equations; Filters; Integrated circuit modeling; Integrated circuit noise; Jacobian matrices; Linear approximation; Nonlinear systems; Orbital robotics; Recursive estimation; State estimation;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529787
