Estimacija stanja i praćenje manevrirajućih objekata

master's thesis

• Title (english): State Estimation and Tracking of Maneuvering Objects
• Author: Matej Jelavić
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Juraj Peršić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Estimacija stanja i praćenje manevrirajućih objekata jedan je od važnijih zadataka sustava za praćenje i kontrolu prostora, te autonomnih vozila. Ovaj zadatak otežavaju problemi loših i lažnih mjerenja, nemogućnost modeliranja gibanja objekta jedim modelom, te mogućnost praćenja više meta u prostoru mjerenja. U ovom radu je su opisani Kalmanov filtar i njegov prošireni oblik kao estimator stanja, interaktivni višestruki model kao estimator koji koristi dva ili više filtera u paraleli s različitim modelima, kako bi odredio način gibanja i poboljšao ukupni odziv sustava, te na kraju način povezivanja mjerenja s metom koristeći filtar vjerojatnosti povezivanja i njegov prošireni oblik. Osim opisa napravljena je i simulacija u MATLAB-u gibanja u prostoru za koju se radi estimacija stanja i praćenje koristeći prethodno navedene elemente gdje možemo vidjeti prikladan način rješenju problema ovoga zadatka. Također je moguće vidjeti zašto najjednostavnije ili najbrže rješenje nije uvijek i najoptimalnije.

Abstract (english)

State esimation and tracking of maneuvering objects is one of the most important tasks of the system for monitoring and control of space, and autonomous vehicles. This task is complicated by the problems of bad and false measurements, the inability to model the object movement with one model, and the ability to track multiple targets in the measurement space. This paper describes the Kalman filter and its extended form as a state estimator, an interactive multiple model as an estimator that uses two or more filters in parallel with different models, to determine the mode of motion and improve the overall system response, and finally the way of connecting measurements with a target using a probability association filter and its extended form. In addition to the description, a simulation was made in MATLAB of motion in space, for which state estimation and monitoring are performed using the previously mentioned elements, where we can see a suitable way to solve the problem of this task. It is also possible to see why the simplest or fastest solution is not always the most optimal.

• Keywords: estimacija stanja; praćenje cilja; Kalmanov filtar; interaktivni višestruki model; povezivanje podataka
• Keywords (english): state estimation; target tracking; Kalman filter; interactive multiple model; data association.
• Language: croatian
• URN:NBN: urn:nbn:hr:168:231779
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 15:09:38