Show simple item record

dc.contributor.authorMotwani, A
dc.contributor.authorSharma, SK
dc.contributor.authorSutton, R
dc.contributor.authorCulverhouse, P
dc.date.accessioned2015-10-15T11:18:20Z
dc.date.available2015-10-15T11:18:20Z
dc.date.issued2014-05
dc.identifier.issn0959-6518
dc.identifier.issn2041-3041
dc.identifier.urihttp://hdl.handle.net/10026.1/3647
dc.description.abstract

<jats:p> The interval Kalman filter is a variant of the traditional Kalman filter for systems with bounded parametric uncertainty. For such systems, modelled in terms of intervals, the interval Kalman filter provides estimates of the system state also in the form of intervals, guaranteed to contain the Kalman filter estimates of all point-valued systems contained in the interval model. However, for practical purposes, a single, point-valued estimate of the system state is often required. This point value can be seen as a weighted average of the interval bounds provided by the interval Kalman filter. This article proposes a methodology based on the application of artificial neural networks by which an adequate weight can be computed at each time step, whereby the weighted average of the interval bounds approximates the optimal estimate or estimate which would be obtained using a Kalman filter if no parametric uncertainty was present in the system model, even when this is not the case. The practical applicability and robustness of the method are demonstrated through its application to the navigation of an uninhabited surface vehicle. </jats:p>

dc.format.extent267-277
dc.languageen
dc.language.isoen
dc.publisherSAGE Publications
dc.subjectInterval Kalman filter
dc.subjectartificial neural network
dc.subjectrobust estimation
dc.titleApplication of artificial neural networks to weighted interval Kalman filtering
dc.typejournal-article
dc.typeArticle
plymouth.author-urlhttps://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000335641000001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008
plymouth.issue5
plymouth.volume228
plymouth.publisher-urlhttp://dx.doi.org/10.1177/0959651813520148
plymouth.publication-statusPublished
plymouth.journalProceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
dc.identifier.doi10.1177/0959651813520148
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA12 Engineering
plymouth.organisational-group/Plymouth/Research Groups
plymouth.organisational-group/Plymouth/Research Groups/Marine Institute
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dc.identifier.eissn2041-3041
dc.rights.embargoperiodNot known
rioxxterms.funderEngineering and Physical Sciences Research Council
rioxxterms.identifier.projectAn Intelligent Integrated Navigation and Autopilot System for Uninhabited Surface Vehicles
rioxxterms.versionofrecord10.1177/0959651813520148
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserved
rioxxterms.typeJournal Article/Review
plymouth.funderAn Intelligent Integrated Navigation and Autopilot System for Uninhabited Surface Vehicles::Engineering and Physical Sciences Research Council


Files in this item

Thumbnail
Thumbnail

This item appears in the following Collection(s)

Show simple item record


All items in PEARL are protected by copyright law.
Author manuscripts deposited to comply with open access mandates are made available in accordance with publisher policies. Please cite only the published version using the details provided on the item record or document. In the absence of an open licence (e.g. Creative Commons), permissions for further reuse of content should be sought from the publisher or author.
Theme by 
Atmire NV