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Die mathematische Funktionsweise des Kalman Filters und seine Erweiterungen by Wahab, Nawid Daniel

Die mathematische Funktionsweise des Kalman Filters und seine Erweiterungen

by Nawid Daniel Wahab
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Book cover type: Paperback
  • ISBN13: 9783668601857
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Grin Verlag
  • Publisher Imprint: Grin Verlag
  • Publication Date:
  • Pages: 82
  • Original Price: USD 60.9
  • Language: German
  • Edition: 1. Auflage
  • Item Weight: 118 grams
  • BISAC Subject(s): Electrical

Bachelorarbeit aus dem Jahr 2015 im Fachbereich Ingenieurwissenschaften - Nachrichtentechnik / Kommunikationstechnik, Note: 1,3, Technische Universität München, Sprache: Deutsch, Abstract: Die vorliegende Arbeit thematisiert den strukturellen Aufbau und die mathematische Funktionsweise des Kalman Filters. Für eine verständliche Analyse des Kalman Filters werden zunächst mathematische Kenntnisse bereitgestellt. Diese beinhalten zum einen stochastische Grundlagen, wie zum Beispiel das Wissen über stochastische Verteilungen. Zum anderen wird knapp auf die Analysis eingegangen, in der die Zustandsraumdarstellung für spätere Beschreibungen erklärt wird. Darauf basierend folgt der Kern der Arbeit, worin die vollständige mathematische Herleitung besteht. Angefangen mit einer Zustands- und Messgleichung werden schrittweise auf die fünf Gleichungen des Kalman Filters geschlossen, deren Anwendung am Ende der Herleitung beispielhaft für ein Navigationsproblem eines Kraftfahrzeugs veranschaulich werden. Dadurch dass in der Realität viele Anwendungen von nichtlinearer Natur sind, wird der Kalman Filter so erweitert, dass das Extended Kalman Filter und das Unscented Kalman Filter erwähnt wird. Um auf bestimmte Schwachstellen des Filters zu reagieren, werden auf die adaptive Filterung sowie das duale Kalman Filter aufmerksam gemacht. Die Wichtigkeit der Thematik wird in einem Anwendungsbeispiel für die Ladezustandsbestimmung einer Batterie verdeutlicht.

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