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Alternative TitleDiscrete HuberM-CKF filter based mobile robot positioning in WSNs
邓先瑞; 聂雪媛; 刘国平
Source Publication计算机应用研究
Other AbstractAccording to problem of low accuracy in traditional mobile robot localization,this paper designed the discrete HuberM- CKalmam filter (HCKF) based mobile robot positioning algorithm. It made use of the cost function of HurbM maximum likelihood estimation to solve the linearized CKF observation matrix,which improved the estimation accuracy for CKF filter algorithm with unknown-non-Gauss white noise disturbance. Then,it constructed WSNs based experiment environment for mobile robot at gymnasium,and combined with mobile robot dynamics model,it compared the positioning accuracy for the HCKF and the CKF algorithm. The results show that,for the two cases of non interference and unknown noise interference,the proposed method respectively improves the accuracy of HCKF algorithm about 7% and 15% more than CKF algorithm.
KeywordWireless Sensor Network Hurbm Cost Function Ckf Filter Mobile Robot Localization
Indexed ByCSCD
WOS Keywordwireless sensor network ; HurbM cost function ; CKF filter ; mobile robot ; localization
Funding Organization河北省科技计划资助项目 ; 唐山师范学院博士基金资助项目
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Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
邓先瑞,聂雪媛,刘国平. WSNs下移动机器人HuberM-CKF离散滤波定位[J]. 计算机应用研究,2016,33(6):1839-1842.
APA 邓先瑞,聂雪媛,&刘国平.(2016).WSNs下移动机器人HuberM-CKF离散滤波定位.计算机应用研究,33(6),1839-1842.
MLA 邓先瑞,et al."WSNs下移动机器人HuberM-CKF离散滤波定位".计算机应用研究 33.6(2016):1839-1842.
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