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Design of Proportional Integral Kalman Filter for Discrete-time Systems
XU Hui 1 *,CAO Yimeng 2 #
1.China University of Mining and Technology, Mechanical Electronic & Information Engineering, Beijing, 100083
2.China University of Mining and Techonology, Mechanical Electronic & Information Engineering, Beijing, 100083
*Correspondence author
#Submitted by
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Funding: none
Opened online:24 April 2015
Accepted by: none
Citation: XU Hui,CAO Yimeng.Design of Proportional Integral Kalman Filter for Discrete-time Systems[OL]. [24 April 2015] http://en.paper.edu.cn/en_releasepaper/content/4638268
 
 
The Kalman filter operates recursively on streams of noisy input data to produce a statistically optimal estimate of the underlying system state. In this paper, we mainly derived a Proportional Integral Kalman filter(PI-Kalman filter), which is used to solve the inaccuracy of the regular Kalman filter caused by constant process disturbance in discrete-time systems. Besides, the PI-Kalman filter can be used to estimate the unknown constant process disturbance. In addition, this PI-Kalman filter was used in the simulation of a single tracking problem. The result shows that it perform better than the regular Kalman filter.
Keywords:PI-Kalman filter; Disrete-time Systems; Process disturbance
 
 
 

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