정렬비행을 위한 적응 스칼라 필터의 성능 분석

Abstract

In this paper, the performance of a scalar filter and a scalar adaptive filter are anal yzed. In order to make indoor experimental environment similar to outdoor test, ultrasonic sensors are used instead of CPS. The scalar adaptive filter, which is continuously estimating velocity error covariance and measurement noise covariance by using adaptive method, is different from the scalar filter. Experimental results show that the scalar adaptive filter has better position estimating performance than the scalar filter by estimating above two parameters with an adaptive method.