Academia.eduAcademia.edu

Figure 2 – uploaded by S Koteswara Rao

See full PDFdownloadDownload figure
Figure 2. Behavior of the statistics B(k) in the case of system failure (in between 1700th and 1800th seconds) and measurement failure (in between 2400th and 2500th seconds) when the regular UKF is used.

Figure 2 Behavior of the statistics B(k) in the case of system failure (in between 1700th and 1800th seconds) and measurement failure (in between 2400th and 2500th seconds) when the regular UKF is used.

Related Figures (7)

Figure 1. The overall estimation scheme for the RAUKF.
Figure 1. The overall estimation scheme for the RAUKF.
Figure 3. Behavior of the statistics B(k) in the case of system failure (in between 1700th and 1800th seconds) and measurement failure (in between 2400th and 2500th seconds) when the robust UKF insensitive to the system failures is used.
Figure 3. Behavior of the statistics B(k) in the case of system failure (in between 1700th and 1800th seconds) and measurement failure (in between 2400th and 2500th seconds) when the robust UKF insensitive to the system failures is used.
Figure 4. Estimation of roll angle via UKF.
Figure 4. Estimation of roll angle via UKF.
Figure 5. Estimation of yaw angle via UKF.
Figure 5. Estimation of yaw angle via UKF.
Figure 6. Estimation of roll angle via RAUKF.
Figure 6. Estimation of roll angle via RAUKF.
Table I. Comparison of the absolute values of error for the regular and robust adaptive UKFs. In order to clarify the superiority of the RAUKF, the absolute values of estimation errors are tab- ulated for both regular UKF and RAUKF (Table I). Columns, given for the 1750th second, show the estimation errors for the time steps where the system fault is the point at issue. Other columns are for the time steps where measurement fault occurs. The table supports the main idea that is stated by the figures and proves that in case of fault, the RAUKF gives accurate estimation results even though the regular UKF fails.
Table I. Comparison of the absolute values of error for the regular and robust adaptive UKFs. In order to clarify the superiority of the RAUKF, the absolute values of estimation errors are tab- ulated for both regular UKF and RAUKF (Table I). Columns, given for the 1750th second, show the estimation errors for the time steps where the system fault is the point at issue. Other columns are for the time steps where measurement fault occurs. The table supports the main idea that is stated by the figures and proves that in case of fault, the RAUKF gives accurate estimation results even though the regular UKF fails.
Figure 7. Estimation of yaw angle via RAUKF.
Figure 7. Estimation of yaw angle via RAUKF.
580 California St., Suite 400
San Francisco, CA, 94104
© 2025 Academia. All rights reserved