Journal of Systems Engineering and Electronics ›› 2013, Vol. 24 ›› Issue (4): 655-665.doi: 10.1109/JSEE.2013.00076

• CONTROL THEORY AND APPLICATION • Previous Articles     Next Articles

Adaptive unscented Kalman filter for parameter and state estimation of nonlinear high-speed objects

Fang Deng1,2, Jie Chen1,2, and Chen Chen1,2,*   

  1. 1. School of Automation, Beijing Institute of Technology, Beijing 100081, China;
    2. Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing 100081, China
  • Online:2013-08-21 Published:2010-01-03


An adaptive unscented Kalman filter (AUKF) and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter (UKF) when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.