| 基于交互多模型无味卡尔曼滤波的移动机器人故障诊断 |
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| 引用本文： | 万伟,张凤云,杨斌.基于交互多模型无味卡尔曼滤波的移动机器人故障诊断[J].湖南文理学院学报(自然科学版),2016,28(2). |
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| 作者姓名： | 万伟 张凤云 杨斌 |
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| 作者单位： | 长沙市轨道交通运营有限公司，湖南 长沙，410000;郑州铁路局 新乡电务段，河南 郑州，453000 |
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| 摘 要： | 为了快速、准确地诊断出移动机器人的故障,将交互多模型算法和无味卡尔曼滤波(IMM_UKF)结合起来,通过各个故障模型的概率大小来判断故障是否发生。仿真结果证明,IMM_UKF的估计准确度要高于IMM_EKF,能够准确判断故障。
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| 关 键 词： | 故障诊断 交互多模型 无味卡尔曼滤波 移动机器人 |
Fault diagnosis of mobile robot based on interacting multiple model unscented Kalman filter |
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| Wan Wei,Zhang Fengyun,Yang Bin.Fault diagnosis of mobile robot based on interacting multiple model unscented Kalman filter[J].Journal of Hunan University of Arts and Science:Natural Science Edition,2016,28(2). |
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| Authors: | Wan Wei Zhang Fengyun Yang Bin |
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| Abstract: | In order to diagnose the fault of the mobile robot quickly and accurately, the interacting multiple model algorithm and unscented Kalman filtering are combined to solve the issue of fault diagnosis of nonlinear systems, by assessing the occurrence of the fault by the probability of each faulted model. Compared with the extended Kalman filter, it is successfully improves the accuracy of calculation. |
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| Keywords: | fault diagnosis interacting multiple model unscented Kalman filter mobile robot |
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