Efficiency analysis of a filtering algorithm for discrete-time linear stochastic systems with polynomial measurements |
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| Authors: | OA Stepanov VA Vasiliev AB Toropov AV Loparev МV Basin |
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| Institution: | 1. Concern CSRI Elektropribor, JSC, 30 M. Posadskaya, St. Petersburg, Russia;2. ITMO University, 49 Kronverksky Pr., St. Petersburg, Russia;3. Autonomous University of Nuevo Leon, Mexico;4. ITMO University, 49 Kronverksky Pr., St. Petersburg, Russia |
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| Abstract: | A filtering algorithm is presented for discrete-time linear stochastic systems with polynomial measurements. The techniques to evaluate its efficiency are proposed. The algorithm performance is demonstrated by solving two navigation data processing problems, map-aided navigation using geophysical fields and single-beacon navigation for an autonomous underwater vehicle. The designed polynomial filter is compared to the extended Kalman filter, which is commonly used in practice. The simulation results reveal advantages of the polynomial algorithm. The obtained conclusions are reported. |
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| Keywords: | Corresponding author at: Concern CSRI Elektropribor JSC 30 M Posadskaya St Petersburg Russia |
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