[1]刘广瑞,黄真,韩莉莉,等.基于Kalman滤波的图像雅克比矩阵在线估计[J].郑州大学学报(工学版),2013,34(01):95-98.[doi:10.3969/j.issn.1671-6833.2013.01.023]
　LIU Guang-rui,HUANG Zhen,HAN Li-li,et al.Tracking of Two Dimensional Based On Kalman Filtering[J].Journal of Zhengzhou University (Engineering Science),2013,34(01):95-98.[doi:10.3969/j.issn.1671-6833.2013.01.023]
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基于Kalman滤波的图像雅克比矩阵在线估计()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
34卷
期数:
2013年01期
页码:
95-98
栏目:
出版日期:
2013-01-16

文章信息/Info

Title:
Tracking of Two Dimensional Based On Kalman Filtering
作者:
刘广瑞; 黄真; 韩莉莉; 等.
郑州大学机械工程学院,河南郑州,450001, 河南工业大学机电学院,河南郑州,450007
Author(s):
LIU Guang-rui1; HUANG Zhen1; HAN Li-li2; BI Jing-kai1
1.School of Mechanical Engineering，Zhengzhou University , Zhengzhou 450001 , China;2.School of Mechanical Engineering,Henan University of Technology , Zhengzhou 450007 , China
关键词:
卡尔曼滤波;  雅克比矩阵;  在线估计
Keywords:
Kalman filtering ;  Jacobimatrix ;  estimated on line
分类号:
TP249
DOI:
10.3969/j.issn.1671-6833.2013.01.023
文献标志码:
A
摘要:
视觉伺服机器人主要是通过系统的图像雅克比矩阵表述机器人系统的特征空间进行反馈控制.首先建立了SCARA型机器人系统,针对系统图像雅克比矩阵的物理意义,利用雅克比矩阵增量AJ建立系统状态方程,以Kalman滤波的方法对系统雅克比矩阵进行在线估计.在Matlab仿真的基础上对此方法进行分析,并将其运用于二维目标的跟踪,实验表明此方法的有效性.
Abstract:
The control of the visual-servo robot is feedback controlled through presenting the feature space ofrobot system by the graphic Jacobimatrix of the systerm.A SCARA robot system is established firstly. In viewof the physical meaning of the system Jacobianmatrix, the system state equation would be built according to theincremental of Jacobionmatrix,then the Jacabian matrix would be estimated on-line through the Kalman filte-ring. This method is analyzed based on the MATLAB simulation and applied to the tracking of the two dimen-sional target, and the validity of this method was tested finally.

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[1]杨高飞,徐睿,秦鸣,等.基于ARMA和卡尔曼滤波的短时交通预测[J].郑州大学学报(工学版),2017,38(02):36.[doi:10.13705/j.issn.1671-6833.2017.02.009]
　Yang Gaofei,Xu Rui,Qin Ming,et al.Short-term Traffic Volume Forecasting Based on ARMA and Kalman Filter[J].Journal of Zhengzhou University (Engineering Science),2017,38(01):36.[doi:10.13705/j.issn.1671-6833.2017.02.009]

更新日期/Last Update: 1900-01-01