Professional Documents
Culture Documents
BI TP LN
20080355
20081279
Page 1
1.2.
1.3.
1.4.
1.5.
lch chun............................................................................................................................ 7
1.6.
1.7.
1.8.
1.9.
1.10.
2.
B lc Kalman ................................................................................................................................ 12
2.1.
2.2.
2.2.1.
2.2.2.
Gi thit ........................................................................................................................... 15
2.2.3.
Ngun gc ....................................................................................................................... 16
2.2.4.
2.2.5.
2.2.6.
li Kalman ................................................................................................................. 20
2.2.7.
II.
III.
CI T TH NGHIM ............................................................................................... 26
1.
2.
Ci t b lc Kalman..................................................................................................................... 27
IV.
2.1.
2.2.
KT LUN ....................................................................................................................... 32
Page 2
LI GII THIU
Ngy nay, nn cng ngh th gii ang pht trin nhanh chng v hng lot cc
gii php cng ngh ra i mi nm. Theo , cc sinh vin ngnh cng ngh ngoi vic
tip thu cc kin thc ging ng cn phi tm hiu nghin cu thm cc cng ngh
tin tin trn th gii c th p ng c yu cu cao ca th trng lao ng. Trong
nhng nm gn y cc loi cm bin, thit b o lng c s dng rng ri trong dn
dng cng nh trong cng nghip. Th nhng nhiu loi thit b li rt nhy vi nhiu,
vn lm sao loi nhiu ra khi tn hiu l mt vn thc s khng n gin.
Vi nhng u im vt tri, tim nng ng dng ca thut ton Kalman vo
thc t trong vic p dng lc nhiu trong tn hiu l rt kh quan, v vy vic nghin
cu nm r v tin ti lm ch phng php ny l rt cn thit v b ch. Ngoi ra
vi mong mun p dng v lp trnh thut ton Kalman vo thc t nn nhm chng em
chn ti: TM HIU L THUYT V CC NG DNG CA B LC
KALMAN.
Page 3
I.
L THUYT B LC KALMAN
Vo nm 1960, R.E Kalman cng b bi bo ni ting v mt gii php truy
hi gii quyt mt bi ton lc thng tin ri rc truyn tnh (discrete data linear
filtering). Tn y ca bi bo l A New Approach to Linear Filtering and Prediction
Problems. T n nay cng vi s pht trin ca tnh ton k thut s, b lc Kalman
tr thnh ch nghin cu si ni v c ng dng trong nhiu ngnh k thut
cng ngh khc nhau: trong t ng ha, trong nh v cng nh trong vin thng v
trong nhiu lnh vc khc.
Mt cch khi qut, b lc Kalman l mt tp hp cc phng trnh ton hc m
t mt phng php tnh ton truy hi hiu qa cho php c on trng thi ca mt qu
trnh sao cho trung bnh phng sai ca l nh nht. B lc Kalman rt hiu qu trong
vic c on cc trng thi trong qu kh, hin ti v tng lai thm ch ngay c khi
tnh chnh xc ca h thng m phng khng c khng nh.
1. L thuyt v c lng
1.1.
Khi nim
Trong thng k, mt c lng l mt gi tr c tnh ton t mt mu th v
nh gi cht lng
Mt c lng l mt gi tr x c tnh ton trn mt mu c ly mt cch
Page 4
K vng (Expectation)
nh ngha: Gi s l i lng ngu nhin ri rc c th nhn cc gi tr
1 , 2 , , vi cc xc sut tng ng 1 , 2 , , .
Khi k vng ca X, k hiu l ( ) hay c xc nh bi cng thc
( ) =
(1.1)
=1
( ) = ()
(1.2)
Tnh cht
i.
( ) =
Page 5
ii.
(. ) = . ( ), vi l hng s.
iii.
( + ) = ( ) + ( )
iv.
(1.3)
( ) = [ ]2
(1.4)
=1
( ) = [ ]2 ()
(1.5)
(1.6)
Tnh cht:
i. ( ) = 0
ii. (. ) = 2 . ( );
iii. Nu X, Y l 2 bin ngu nhin c lp th:
( + ) = ( ) = ( ) + ()
(1.7)
Page 6
tr ca i lng ngu nhin quanh gi tr trung bnh hay k vng. i lng ngu nhin
c phng sai cng ln th gi tr cng phn tn v ngc li.
1.5.
lch chun
nh ngha: lch chun ca i lng ngu nhin X, k hiu () c xc
nh bi cng thc:
( ) = ( )
1.6.
(1.8)
hiu (, ):
(, ) = [( )( )]
(1.9)
trong , ln lt l k vng ca X, Y.
Mt cng thc tng ng ca hip phng sai:
(, ) = []
(1.10)
ngha ca hip phng sai l s bin thin cng nhau ca 2 bin ngu nhin:
Nu 2 bin c xu hng thay i cng nhau (ngha l, khi mt bin c gi tr cao hn k
vng th bin kia cng c xu hng cao hn k vng), th hip phng sai ca hai bin
ny c gi tr dng. Mt khc, nu mt bin nm trn gi tr k vng cn bin kia c xu
hng nm di gi tr k vng, th hip phng sai ca hai bin c gi tr m.
Nu 2 bin ngu nhin l c lp th (, ) = 0 tuy nhin iu ngc li
khng ng. Cc bin ngu nhin m c hip phng sai bng 0 c gi l khng tng
quan (uncorrelated), chng c th c lp nhau hoc khng.
Nh vy nu X, Y c lp ta c [] = .
Tnh cht
-
(, ) = ()
(, ) = (, )
(, ) = (, )
Page 7
(1 + 2 , 1 + 2 ) = (1 , 1 ) + (2 , 1 ) + (1 , 2 ) +
(2 , 2 )
1.7.
( + ) = ( ) + () + 2(, )
=[
(1 , 1 )
(2 , 1 )
(1 , 2 )
(2 , 2 )
( , 1 )
( , 2 )
(1 , )
(2 , )
]
( , )
1
Vi = [ ]
1
2
()2
22
Page 8
Page 9
1.9.
=1( )2 .
=1 ,
Page 10
1 1
Trong trng hp mu ln, php tnh c hon li v php tnh khng hon li l
nh nhau, v
V(Y) l: 2 =
1
1
(1.13)
(1.14)
Page 11
2 = ( ( ))2
(1.15)
=1
1
2 = ( ( ))2
(1.16)
=1
(1.17)
2. B lc Kalman
2.1.
cc thng tin t cm bin thnh phn. Mt khi phng trnh nh hng v mu thng k
nhiu trn mi cm bin c bit v xc nh, b lc Kalman s cho c lng gi tr
ti u (chnh xc do c loi sai s, nhiu) nh l ang s dng mt tn hiu tinh
khit v c phn b khng i. Trong h thng ny, tn hiu cm bin vo b lc
gm hai tn hiu: t cm bin gc (inclinometer) v cm bin vn tc gc (gyro). Tn hiu
u ra ca b lc l tn hiu ca inclinometer v gyro c loi nhiu nh hai ngun
tn hiu h tr v x l ln nhau trong b lc, thng qua quan h (vn tc gc = o
hm/vi phn ca gi tr gc.
Page 12
Page 13
Page 14
(2.1)
(2.2)
2.2.2. Gi thit
Chng ta gi thit nh sau
Nhiu qu trnh v nhiu o lng v l khng tng quan, l nhiu
Gaussian trng cng (AWGN) c gi tr trung bnh bng khng v ma trn
hip phng sai bit.
Page 15
Khi ,
[ ] = {
0
[ ] = 0
[ ] = {
=
,
=
,
,
(2.3)
(2.4)
(2.5)
(2.8)
(2.9)
Page 16
Hip phng sai c lng d on +1| l trung bnh bnh phng sai s trong
c lng +1| .
V vy, bng vic s dng cc s kin m v | l khng tng quan:
+1| = (+1 +1| )
(2.10)
(2.11)
(2.12)
(2.13)
(2.14)
Page 17
(2.15)
(2.16)
(2.17)
(2.18)
(2.19)
Kt hp (2.16) v (2.18) ta c
+1|+1 = +1| + +1 +1
(2.20)
Page 18
(2.21)
(2.22)
(2.23)
Page 19
Trong ,
= min (+1|+1 )
(2.24)
+1
(( )) = 2
= 2( +1 +1 )+1| +1 + 2+1 +1 = 0
+1
Sp xp li v a ra phng trnh cho ma trn li
1
(2.25)
Kt hp vi (2.21) ta c
+1 = +1| +1 1
+1
(2.26)
Page 20
T (2.26) ta c
+1 +1 +1 = +1| +1 +1
(2.27)
Kt hp (2.23) v (2.27)
+1|+1 = +1| ( +1 +1 )
= (+1| ( +1 +1 ) )
= ( +1 +1 ) (+1| )
= ( +1 +1 )+1|
(2.28)
(2.29)
(2.30)
o lng d on:
+1| = +1 +1|
(2.31)
Page 21
Qu trnh iu chnh
lch o lng:
+1 = +1 +1 +1|
(2.32)
(2.33)
li Kalman:
+1 = +1| +1 1
+1
(2.34)
(2.35)
+1|+1 = ( +1 +1 )+1|
(2.36)
Prediction
Initial
(1) +1| = | +
(2) +1| = |
+
| and |
Update
(3) +1 = +1 +1|
+1 + +1
1
(4) +1 = +1|
+1 +1
Page 22
Page 23
NG DNG CA B LC KALMAN
II.
Li t ng my bay (Autopilot)
c lng trng thi sc ca pin (Battery state of charge (SoC) estimation)
Giao din tng tc vi my tnh bng no (Braincomputer interface)
nh v chuyn ng (Dynamic positioning)
Cc ng dng trong kinh t, c bit l kinh t v m, time series, v econometrics
H thng dn ng qun tnh (Inertial guidance system)
Theo di bng radar (Radar tracker)
H thng nh v v tinh (Satellite navigation systems)
D bo thi tit (Weather forecasting)
H thng nh v (Navigation Systems)
M hnh ha 3 chiu (3D-Modelling)
Page 24
Page 25
III.
CI T TH NGHIM
(3.1)
= + 2 log() sin(2)
(3.2)
Hay
trong , [0; 1]
V d to sinh 1000 im tun theo phn phi Gaussian (0, 1)
Page 26
2. Ci t b lc Kalman
2.1. M phng hot ng ca b lc Kalman
Cc thng s ci t
y chng ta s m hnh ha mt mc tiu chuyn ng c vector trng thi ti
thi im k:
= [ ( )
( )
( )
()]
= [0
1
0
0
0
0
0
1
= +1 = 1
= [ ]
0|0
1
= [0
0
0
0
0] ; = (4, 4)
0
0|0
1
0
Page 27
M hnh o lng:
= +
Trong :
1 0 0
= [
0 0 1
~(0, 1)
0
]
0
1 0
]
0 1
= 5: l i lng biu din cng ca nhiu o lng.
= [ ] = 2 [
Kt qu ci t
Ngn ng s dng C#
Output: Qu o c c lng.
Giao din
Page 28
S dng
Qu o thc ca mc tiu:
Page 29
Qu o o lng
Page 30
Page 31
IV.
KT LUN
V l thuyt
Nm r c b lc Kalman
C kh nng pht trin h thng c lng dng b lc Kalman
Hiu c cch m hnh ha h thng trong b lc Kalman
V ng dng
Bng nhng kin thc v b lc Kalman m phng c qu trnh c lng
chuyn ng ca mc tiu.
Hng pht trin
ng dng b lc Kalman vo h thng bt mc tiu trong mng cm bin khng
dy, gip qun l trng thi ca cc cm bin, tng cht lng theo di v ko
di thi gian sng ca mng.
Page 32
[1] Gio trnh xc sut thng k, Tng nh Qu, NXB Gio dc, H Ni, 1999.
[2] Estimation II, Ian Ried-2001
[3] Tn la khng i khng, http://vi.wikipedia.org/wiki/Tn_la_khng_i_khng
[4] Vinh Tran-Quang, Phat Nguyen Huu, Takumi Miyoshi, A Collaborative Target
Tracking Algorithm Considering Energy Constraint in WSNs 15-17 Sept. 2011.
[5] Kalman filter, http://en.wikipedia.org/wiki/Kalman_filter
[6] Ths. inh Anh Tun, Nguyn Phng Quang, Ci thin cht lng truyn ng khng
ng b bng cu trc tch knh trc tip s dng kalman filter quan st t thng 20-11-2009
[7] http://www.nchmf.gov.vn/web/vi-VN/71/155/5760/Default.aspx
[8] Ng Mnh Tin, Phan Xun Minh, H Th Kim Duyn, A Method using Kalman
Filter combining with Image Tracking Camshift Algorithm to bring higher tracking
Quality in automatically searching and tracking target Robot System VCCA-2011.
Page 33