{"id":725,"date":"2016-12-01T16:19:15","date_gmt":"2016-12-02T01:19:15","guid":{"rendered":"\/blog\/?p=725"},"modified":"2023-09-21T09:37:51","modified_gmt":"2023-09-21T00:37:51","slug":"%ec%b9%bc%eb%a7%8c%ed%95%84%ed%84%b0kalman-filter","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=725","title":{"rendered":"\uce7c\ub9cc\ud544\ud130(Kalman Filter)"},"content":{"rendered":"\n

\ucd9c\ucc98 : <\/span>http:\/\/msnayana.blog.me\/80106682874<\/span><\/a><\/p>\r\n


<\/p>\r\n

\ub8e8\ud504\ub9cc \uce7c\ub9cc<\/span><\/strong>\uc774 1960\ub144\ub300\ucd08 \uac1c\ubc1c\ud55c <\/span>\ud544\ud130<\/span><\/strong>\ub85c <\/span><\/p>\r\n

\ucef4\ud4e8\ud130\ube44\uc83c,\ub85c\ubd07, \ub85c\ucf13, \uc704\uc131, \ubbf8\uc0ac\uc77c, \uc81c\uc5b4\ubd84\uc57c\uc5d0 \ub9ce\uc774 \uc774\uc6a9\ub418\ub294 <\/span>\uc54c\uace0\ub9ac\uc998<\/span><\/strong>\uc778\ub370<\/span><\/p>\r\n

\uc774\uac83\uc744  GPS,\uc8fc\uc2dd, \ub0a0\uc528\uc608\uce21, \uc778\uad6c\uc608\uce21\uac19\uc740 \ubd80\ubd84\uc5d0\ub3c4 \uc774\uc6a9\uc744 \ud558\uace0 \uc788\ub2e4~~  <\/span>\ubbf8\ub798\ub97c \uc704\ud574 \uc880 \uc815\ub9ac\ud574\ubcf4\uc790<\/span><\/font><\/strong>^^..<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uce7c\ub9cc\ud544\ud130<\/span><\/strong>\ub294<\/span><\/p>\r\n

\uacfc\uac70\uc758 \uce21\uc815\ub370\uc774\ud0c0(\uae30\uc874\uc5d0 \uc54c\uace0\uc788\ub358\uac83)\uc640  \uc0c8\ub85c\uc6b4 \uce21\uc815\ub370\uc774\ud0c0\ub97c \uc0ac\uc6a9\ud558\uc5ec   \ub370\uc774\ud130\uc5d0 \ud3ec\ud568\ub41c \ub178\uc774\uc988\ub97c \uc81c\uac70\uc2dc\ucf1c  <\/span><\/p>\r\n

\uc0c8\ub85c\uc6b4 \uacb0\uacfc\ub97c <\/span>\ucd94\uc815<\/span><\/strong>(estmate)\ud558\ub294\ub370 \uc0ac\uc6a9\ud558\ub294 \uc54c\uace0\ub9ac\uc998\uc73c\ub85c   \uc120\ud615\uc801\uc6c0\uc9c1\uc784\uc744 \uac00\uc9c0\ub294 \ub300\uc0c1\uc744 \uc7ac\uadc0\uc801\uc801\uc6a9\uc73c\ub85c \ub3d9\uc791\uc2dc\ud0a8\ub2e4.<\/span><\/p>\r\n

\uce7c\ub9cc\ud544\ud130\ub294 1960\ub144\ub300\uc5d0 \uc544\ud3f4\ub85c \uc6b0\uc8fc\uc120\uc758 \ub2ec \uc5ec\ud589\uc2dc\uc5d0 \ucc98\uc74c \uc801\uc6a9\ub418\uc5c8\ub2e4\ub294\ub370  \ud604\uc7ac\ub294 \ub2e4\uc591\ud55c \uc885\ub958\uc758 \uce7c\ub9cc\ud544\ud130\uac00 \uac1c\ubc1c\ub418\uc5b4 \uc788\ub2e4.<\/span><\/p>\r\n

Schmidt \uc758 extended filter, information filter, Bierman \uacfc Thornton \ub4f1\ub4f1\uc5d0 \uc758\ud574 \uac1c\ubc1c\ub41c \ub2e4\uc591\ud55c squrar-root filter \ub4e4\uc774 \uc788\ub2e4\uace0 \ud55c\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc5ec\uae30\uc11c<\/span> \ud544\ud130<\/span><\/strong>\ub294<\/span><\/p>\r\n

\uc815\uc218\uae30\uc758 \ud544\ud130\ucc98\ub984 \ubb34\uc5c7\uc744 \uac78\ub7ec\ub0b4\ub294 \uc5ed\ud65c\ub85c\uc11c,  \uce21\uc815\ub370\uc774\ud0c0\uc5d0 \ud3ec\ud568\ub41c \ubd88\ud655\uc2e4\uc131(noise)\uc744  \ud544\ud130\ub9c1\ud558\ub294 \uac83\uc73c\ub85c<\/span><\/p>\r\n

\ub300\uc0c1\uc73c\ub85c\ubd80\ud130 \uc5bb\uc744 \uc218 \uc788\ub294 \ub370\uc774\ud0c0\uac00  \uc644\ubcbd\ud560\uc218 \uc5c6\uae30\uc5d0  \ubd80\uc871\ud55c \uc131\uc9c8\uc744 \ubcf4\ucda9\ud55c\ub2e4\uace0 \ubcf4\uba74 \ub420 \uac83 \uac19\ub2e4.<\/span><\/p>\r\n

\uc989, \uce21\uc815\ub370\uc774\ud0c0\ub098   \uc2e0\ud638\uac00 \uc7a1\uc74c\uc744 \ub3d9\ubc18\ud558\ub294\ub370 \uc5ec\uae30\uc11c<\/span> \uc6d0\ud558\ub294 \uc2e0\ud638\ub098 \uc815\ubcf4\ub97c \uace8\ub77c\ub0b4\ub294 <\/span>\uc54c\uace0\ub9ac\uc998<\/span><\/strong><\/u>\uc774\ub77c\uace0 \ubcf4\uba74 \ub41c\ub2e4.<\/span><\/p>\r\n

\ud655\ub960\uc5d0 \uae30\ubc18\ud55c \uc608\uce21\uc2dc\uc2a4\ud15c\uc774\ubbc0\ub85c  \uc774\uac83\uc758 \ub300\uc0c1\uc740  \uc815\uaddc\ubd84\ud3ec(\uac00\uc6b0\uc2dc\uc548\ubd84\ud3ec)\ub97c \uac00\uc9c0\ub294 \ub300\uc0c1\uc774 \ub41c\ub2e4.<\/span><\/u> <\/span><\/p>\r\n

      <\/span>\uc815\uaddc\ubd84\ud3ec<\/span><\/strong>\ub294 \uc5ec\uae30\uc11c \ucc38\uc870 \ud558\uc2dc\uace0 : <\/span>http:\/\/blog.naver.com\/msnayana\/80107833229<\/span><\/a><\/p>\r\n

\"1.jpg\"<\/p>\r\n

\uc2e4\uc81c \ub370\ubaa8\ubdf0\uc608 : <\/span>http:\/\/www.youtube.com\/watch?v=0GSIKwfkFCA&feature=related<\/span><\/a><\/p>\r\n

 <\/span><\/p>\r\n

\ucd94\uc815 \uc774\ub860<\/span><\/strong>\uc740 <\/span>\ud1b5\uacc4\ud559<\/span><\/strong>\uacfc <\/span>\uc2e0\ud638\ucc98\ub9ac<\/span><\/strong>\uc758 \ud55c \ubd84\uc57c\uc774\uba70,<\/span><\/p>\r\n

\uce21\uc815 \ub610\ub294 \uad00\ucc30\ub41c \uc790\ub8cc\uc5d0 \uae30\ubc18\ud558\uc5ec  \ubaa8\uc218(\ubaa8\uc9d1\ub2e8\uc744 \ub300\ud45c\ud558\ub294 \uac12)\uc758 \uac12\uc744  \ucd94\uc815\ud558\ub294 \uac83\uc744 \ub2e4\ub8ec\ub2e4.<\/span><\/p>\r\n

\ucd94\uc815\uc744 \uc704\ud55c \ubc29\ubc95\uc73c\ub85c\ub294 <\/span><\/p>\r\n

  \uce7c\ub9cc \ud544\ud130,\ubc14\uc774\ub108 \ud544\ud130,\ub9c8\ub974\ucf54\ud504 \uccb4\uc778 \ubaac\ud14c \uce74\ub97c\ub85c,\ubca0\uc774\uc988 \ucd94\uc815\uc790,Method of moments estimators<\/span>
  MAP(Maximum a posteriori),MVUE(Minimum variance unbiased estimator)\ub4f1\uc774 \uc0ac\uc6a9\ub41c\ub2e4\uace0 \ud55c\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc11c\uc6b8\uc2dc\uc758  \uac00\uad6c\uc758 \ud3c9\uade0\uc18c\ub4dd\uc744 \uc870\uc0ac\ud55c\ub2e4\uace0 \ud560\ub54c<\/span><\/p>\r\n

\uc804\uc218\uc870\uc0ac\ub97c \ud558\uc9c0 \uc54a\ub294\uc774\uc0c1  \ubaa8\uc9d1\ub2e8\uc744 \ub300\ud45c\ud558\ub294 \uac12\uc778 \ubaa8\uc218\ub97c \uc54c\uc218 \uc788\ub294 \ubc29\ubc95\uc740 \uc5c6\uae30\uc5d0 \ub2e8\uc21c\ud788 \ucd94\uc815\uc744 \ud1b5\ud558\uc5ec \ucd94\uce21\ud558\uac8c \ub41c\ub2e4.<\/span><\/p>\r\n

\ud45c\ubcf8(\uc0d8\ud50c)\uc5d0\uc11c \uad6c\ud55c \ud1b5\uacc4\uac12\uc744  \uc804\uccb4\ub85c \ud655\ub300\ud558\uc5ec \ucd94\uc815\ud558\ub294\ub370  \uc774\ub54c \ud3c9\uade0\uc774\ub098 \ud45c\uc900\ud3b8\ucc28\ub098 \ubd84\uc0b0\uc774 \ubaa8\uc218\ub85c \uc0ac\uc6a9\ub41c\ub2e4.<\/span><\/p>\r\n

\ub2e4\uc2dc \ub9d0\ud558\uba74 \uc804\uc218\uc870\uc0ac\ud558\uc9c0 \uc54a\ub294 \uc774\uc0c1  \ubaa8\uc218\ub97c \uc808\ub300 \uc54c\uc218 \uc5c6\uc73c\ubbc0\ub85c,  \ubaa8\uc218\ub97c <\/span>\ucd94\uc815<\/span><\/strong>\ud558\uac8c \ub418\uace0  \uc774\ub7f0\uae30\ubc95\uc911\uc5d0 \ud558\ub098\uac00 <\/span>\uce7c\ub9cc\ud544\ud130<\/span><\/strong>\uc774\ub2e4.<\/span><\/u><\/p>\r\n

 <\/span><\/p>\r\n

\uc790\uc5f0\uacc4\uc758 \uc6c0\uc9c1\uc784<\/span><\/strong>\uc740  <\/span>\uc5b4\ub290\uc815\ub3c4 \uc608\uce21\uc774 \uac00\ub2a5\ud558\uba70  <\/span><\/font>\uc77c\ubc18\uc801 \uc6c0\uc9c1\uc784 \ubb3c\uc131<\/span><\/font><\/strong>\uc744 \uac00\uc9c0\ub294 \uac83\uc774<\/span> \ub2f9\uc5f0\ud558\ub2e4<\/span><\/strong>.<\/span><\/p>\r\n

\ub204\uc801\ub41c  \uacfc\uac70\ub370\uc774\ud0c0\uc640  \ud604\uc7ac \uc5bb\uc744 \uc218\uc788\ub294 \ucd5c\uc120\uc758 \ub370\uc774\ud0c0\ub85c  \ud604\uc0c1\ud0dc\ub97c  \ucd94\uc815\ud558\uace0\uc790 \ud568\uc740 \uc6b0\ub9ac\uc758 \ubaa8\ub4e0 \ud604\uc0c1\uc5d0\uc11c \uc694\uad6c\ub418\ub294 \uac83\uc73c\ub85c<\/span><\/p>\r\n

\ubbf8\uc0ac\uc77c\uc774\ub098  \uc8fc\uc2dd\uc758 \ud750\ub984\uc774\ub098  \uac70\uc758 \uac19\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc2e4\uc81c \uc751\uc6a9\uc5d0 \uc788\uc5b4\uc11c\ub294 \uc2dc\uc2a4\ud15c\uc774 \ube44\uc120\ud615\uc774\uace0 \uc7a1\uc74c\ub3c4 Gaussian\uc774 \uc544\ub2cc \uacbd\uc6b0\uac00  \ub9ce\uc73c\ubbc0\ub85c<\/span><\/p>\r\n

\uce7c\ub9cc\ud544\ud130\uc758 \ubcc0\ud615\uc774 \uc694\uad6c\ub418\ub294\ub370 Extended Kalman Filter(EKF)\uac00  \uac00\uc7a5 \ub9ce\uc774 \uc0ac\uc6a9\ub418\uace0 \uc788\ub2e4.<\/span><\/p>\r\n

EKF \ub294 \uc120\ud615\ud654 \uce7c\ub9cc\ud544\ud130(Linearized KF)\uc640  \uc720\uc0ac\ud558\ub098 \uc120\ud615\ud654\ud558\ub294 \uae30\uc900\uc810\uc744 \uacc4\uc18d \uac31\uc2e0\ud574 \ub098\uac04\ub2e4\ub294 \ud2b9\uc9d5\uc744 \uac00\uc9c0\uace0 \uc788\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc7ac\uadc0\uc801 \uc790\ub8cc\ucc98\ub9ac\uc758 \uc608<\/span><\/font><\/strong><\/span><\/p>\r\n\r\n<\/span>

\ucc98\ub9ac\ud560 \uc790\ub8cc\uc758 \uc591\uc774 \uadf8\ub9ac \ub9ce\uc9c0 \uc54a\uc744 \ub54c\ub294 \ubaa8\ub4e0 \uc790\ub8cc\ub97c \uae30\uc5b5\ud574\ub450\uc5c8\ub2e4\uac00 \ud55c\ubc88\uc5d0 \uacc4\uc0b0\ud558\ub294 \uac83\uc774 \uac04\ud3b8\ud558\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\ud558\uc9c0\ub9cc \uc5c4\uccad\ub09c \uc591\uc758 \uc790\ub8cc\uac00  \uacc4\uc18d \ub4e4\uc5b4\uc628\ub2e4\uba74  \uc800\uc7a5 \uc7a5\uc18c \ubc0f \ucc98\ub9ac \uc2dc\uac04\uc744 \uace0\ub824\ud574\uc57c \ud55c\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\uc2a4\ud2b8\ub9bc\ucc98\ub984 \ubc00\ub824\ub4e4\uc5b4 \uc624\ub294 \ub370\uc774\ud0c0\ub97c \ub2e4 \uc800\uc7a5\uc54a\uace0  \ud604\uc7ac\uac12\uacfc \uacfc\uac70\uc758 \ud55c\ub450\uac1c \uac12\ub9cc \uae30\uc5b5\ud558\uc5ec <\/span><\/p>\r\n\r\n<\/span>

\ub370\uc774\ud0c0 \uc804\uccb4\uc758 \ud3c9\uade0(\ubaa8\uc218)\uc744  \uc54c\uc218\ub294 \uc5c6\uc744\uae4c?<\/span><\/p>\r\n\r\n<\/span>

\uc774\uac83\uc740 <\/span>\uc7ac\uadc0\uc801 \uc790\ub8cc\ucc98\ub9ac<\/span><\/strong>(recursive data processing)\ub77c\ub294 \ubc29\ubc95\uc73c\ub85c \uc27d\uac8c \ucc98\ub9ac\uac00 \uac00\ub2a5\ud558\ub2e4\uace0 \ud55c\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

\uc608\ub97c\ub4e4\uba74<\/span><\/p>\r\n\r\n<\/span>

\uc5b4\ub5a4 \uc9d1\ub2e8\uc758 \ud3c9\uade0\uc744 \uc54c\uace0\uc790 \ud558\ub294\uacbd\uc6b0\uac00 \uc788\uc744 \uc218 \uc788\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

82 + 78 + 35 + 67 + 71 +  47 + 99  + 11 + 39 + 97 = 626 \/10 = 62.6<\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

\uc704 \uacbd\uc6b0\ucc98\ub984 10\uac1c\uc758 \uac12\uc774 \uc788\uc744\ub54c \uc804\ubd80  \ub354\ud558\uc5ec  10\uc73c\ub85c \ub098\ub204\uba74 \ud3c9\uade0\uc774 \ub41c\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\uc989 \uccab\ubc88\uac12 K1\uc5d0 \ub450\ubc88\uc9f8 \uac12 K2\ub97c \ub354\ud558\uc5ec 2\ub85c \ub098\ub204\uba74 \ub450\ubc88\uc9f8\uc758 \ud3c9\uade0\uc774 \ub428\uc740 \ubb34\uc218\ud788 \ud558\ub294 \ud589\ub3d9\uc774\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\uc774\ub807\uac8c \ubc18\ubcf5\ud558\uba74 \ub4e4\uc5b4\uc624\ub294 \ubaa8\ub4e0 \uac12\uc744 \uae30\uc5b5\ud574\uc57c\ud558\ub294 \ubd88\ud3b8\ud568\uc774 \uc788\ub2e4.<\/span><\/p>\r\n\r\n<\/span>


Y(1) = K1<\/span>
Y(2) = (K1+K2)\/2<\/span><\/p>\r\n\r\n<\/span>

Y(3) = (K1+K2+K3)\/3   <\/span><\/p>\r\n\r\n<\/span>

Y(4) = (K1+K2+K3+K4)\/4 <\/span><\/p>\r\n\r\n<\/span>

Y(5) = (K1+K2+K3+K4+K5)\/5   <\/span>
Y(n) = (K1+K2+.........+Kn)\/n  <\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

\uc880 \ubc14\uafd4\ubcf4\uba74..<\/span>
Y(1) = K1<\/span>
Y(2) = (K1+K2)\/2                 =>  (Y(1)*1+K2)\/2<\/span>
Y(3) = (K1+K2+K3)\/3             => (Y(2)*2+K3)\/3<\/span>
Y(4) = (K1+K2+K3+K4)\/4        => (Y(3)*3+K4)\/4<\/span><\/p>\r\n\r\n<\/span>

Y(5) = (K1+K2+K3+K4+K5)\/5   => (Y(4)*4+K5)\/5<\/span>
  :<\/span>
Y(n) = (K1+K2+.........+Kn)\/n => (Y(n-1)*(n-1)+Kn)\/n<\/span>
<\/p>\r\n\r\n<\/span>

\uc704 \uc2dd\uc758 \ubc14\ub010\uc77c\ubc18\uc2dd\uc5d0\uc11c    <\/span>Y(n)<\/span><\/strong> = <\/span>Y(n-1) * ((n-1)\/n) + (1\/n)*Kn<\/span><\/strong>  \uc774\ub807\uac8c\ub3c4 \uce58\ud658\ub41c\ub2e4.  <\/span><\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

\uc774\uc2dd\uc758 <\/span>\uc7a5\uc810<\/span><\/strong>\uc740 <\/span><\/span><\/p>\r\n\r\n<\/span>

\uacc4\uc18d \ub4e4\uc5b4\uc624\ub294(\ud639\uc740  \uc9c0\ub098\uac04) \uac01\uac01\uc758 \uac12\ub4e4\uc744 \ubaa8\ub450 \uae30\uc5b5\ud574 \ub458 \ud544\uc694\uac00 \uc5c6\ub2e4\ub294 \uac83.<\/span>
<\/u>\uc989 n\ubc88\uc9f8 \ud3c9\uade0\uc744 \uad6c\ud560 \ub54c Y(n-1)\uc640  \uc9c0\uae08 n\ubc88\uc9f8\ub77c\ub294 \ub450\uac1c\uc758 \uac12\ub9cc \uac00\uc9c0\uace0 \uc788\ub2e4\uba74<\/span><\/p>\r\n\r\n<\/span>

\ubb38\uc81c\uc5c6\uc774 \ud604\uc7ac\uc778  n\ubc88\uc9f8\uc758 \ud3c9\uade0\uc744 \uad6c\ud560 \uc218 \uc788\uac8c\ub418\ub294 \uac04\ud3b8\ud568\uc744 \uc81c\uacf5\ud55c\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

\uc704\uc758 \uc2dd\uc5d0\uc11c<\/span><\/p>\r\n\r\n<\/span>

Y(2) = (K1+K2)\/2  \ub77c\uace0 \ud55c\uac83\uc740   \ub450\uac1c\ub97c \ud569\ud574\uc11c 2\ub85c \ub098\ub220\uc11c \ucc98\ub9ac\ud588\uae30\uc5d0  K1\uacfc K2\ub294 \uc911\uc694\ub3c4\uac00 \uaf2d \uac19\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\ud558\uc9c0\ub9cc  K1\uc774 \ub354 \uac00\uce58\uc788\uace0 K2\uac00 \uc5c4\uccad \uac00\uce58\uac00 \uc801\ub2e4\uac70\ub098  \ubb54\uac00 \ubbff\uc744\uc218\uac00 \uc5c6\ub294 \ub370\uc774\ud0c0\ub77c\uba74 \ub370\uc774\ud0c0\uc758 \uc911\uc694\ub3c4\ub97c \uc904\uc5ec\uc57c \ud55c\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\uc989  <\/span><\/p>\r\n\r\n<\/span>

 Y(2) = (K1+K2)\/2    ===>   Y(2) = ( K1*1.0 + K2*0.5 )\/2   \uc774\ub807\uac8c \ub9d0\uc774\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

\uc774\uac83\uc740 \uc77c\ubc18\uc2dd\uc774 \uc544\ub2c8\uba70 \ub370\uc774\ud0c0\uc758 \uc911\uc694\ub3c4\ub294 \ud45c\uc900\ud3b8\ucc28\ub85c \ud45c\ud604\uc774 \uac00\ub2a5\ud558\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\ud45c\uc900\ud3b8\ucc28\ub294 \uadf8 \ub370\uc774\ud0c0\uac00 \ud3c9\uade0\uc5d0\uc11c \uc5bc\ub9c8\ub098 \ubc97\uc5b4\ub098 \uc788\ub294\uac00\ub97c \ub098\ud0c0\ub0b4\ub294 \uc9c0\ud45c\uc778\ub370  \ub098\ud640\ub85c \ub370\uc774\ud0c0\uc774\uba74  \uc911\uc694\ub3c4\uac00 \ubcc4\ub85c\uc774\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\uac01 \ub370\uc774\ud0c0\uc758 \uc911\uc694\ub3c4\ub294  \ud45c\uc900\ud3b8\ucc28 \uc81c\uacf1\uc5d0 \ubc18\ube44\ub840\ud55c\ub2e4\uace0 \uc54c\ub824\uc838 \uc788\ub294\ub370<\/span><\/p>\r\n\r\n<\/span>

\ud45c\uc900\ud3b8\ucc28\uac00 \ud06c\uba74 \ud074\uc218\ub85d \uadf8 \uac12\uc758  \uc911\uc694\ub3c4\ub294 \ub5a8\uc5b4\uc9c0\uba70  \ud3c9\uade0\uc5d0 \ub300\ud55c \uae30\uc5ec\ub3c4\uac00 \uc801\uc5b4\uc9c0\uac8c \ub41c\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

\uc774\ub807\uac8c\ud558\uc5ec<\/span><\/p>\r\n\r\n<\/span>

\uc5f0\uc18d\uc801 \uc785\ub825\ub370\uc774\ud0c0\ub97c  \ub370\uc774\ud0c0\uc758 \uc911\uc694\ub3c4\ub97c \uac10\uc548\ud558\uc5ec  \uacfc\uac70\uc640 \ud604\uc7ac\uc758 \ub450\uac1c\ub370\uc774\ud0c0\ub85c \ud3c9\uade0\uc744 \uad6c\ud560\uc218 \uc788\uac8c \ub418\uc5c8\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

\uc774\uc804\uc758 \ucd9c\ub825\uac12\uacfc  \uc0c8\ub85c\uc6b4 \uc785\ub825\uac12\uc744 \uc774\uc6a9\ud558\uc5ec <\/span><\/p>\r\n\r\n<\/span>

\uc0c8\ub85c\uc6b4 \ucd5c\uc801\uac12 (optimized state variables) \uc744 \uacc4\uc0b0\ud558\ub294 \uce21\uc815\uac31\uc2e0 \uc54c\uace0\ub9ac\uc998(measurement update algorithm)\uc758 \uc2a4\uce7c\ub77c \ud615\ud0dc\uac00 \ub9cc\ub4e4\uc5b4 \uc9c0\ub294\ub370 \uce7c\ub9cc\ud544\ud130\uc758 \uae30\ubcf8\uc2dd\uc740 \uc77c\ubc18\uc801\uc73c\ub85c \ud589\ub82c \ub610\ub294 \ubca1\ud130\ud615\ud0dc\ub85c  \uc0ac\uc6a9\ub418\uace0 \uc788\ub2e4. <\/span><\/p>\r\n\r\n<\/span>


\ucd5c\uc801\ucd94\uc815\uac12 =  \uc7ac\uadc0\uc801\uc790\ub8cc\ucc98\ub9ac<\/span><\/strong>  + <\/span> \ub370\uc774\ud0c0\uc758 \uc911\uc694\ub3c4(\ud45c\uc900\ud3b8\ucc28)<\/span><\/strong> + <\/span> ?<\/span><\/strong><\/p>\r\n<\/font><\/div>

<\/font><\/p>\r\n

<\/font><\/p>\r\n

<\/font><\/strong> <\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uce7c\ub9cc \ud544\ud130\uc758 \uae30\ubcf8\uac1c\ub150\uc740<\/span><\/p>\r\n

\uacfc\uac70\uc640 \ud604\uc7ac\uac12\uc744 \uac00\uc9c0\uace0  \uc7ac\uadc0\uc801(recursive)\uc5f0\uc0b0(data processing)\uc744 \ud1b5\ud558\uc5ec    \ucd5c\uc801 (optimal) \uac12\uc744 \ucd94\uc801\ud558\ub294 \uac83\uc774\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

 \uc2a4\uce7c\ub77c \uce7c\ub9cc\ud544\ud130 : <\/span>http:\/\/www.swarthmore.edu\/NatSci\/echeeve1\/Ref\/Kalman\/ScalarKalman.html<\/span><\/a><\/p>\r\n

 <\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uad6c\ub984\uc5d0 \uac00\ub824\uc9c4  \ube44\ud589\uccb4\ub97c \ucd94\uc801\ud558\ub294 \ubbf8\uc0ac\uc77c\uc774  \ube44\ud589\uccb4\uc758 \ubc29\ud5a5\uc744 \ucd94\uc815\ud558\ub294 \uac83\uc774\ub098<\/span><\/p>\r\n

\ube60\ub978\uac8c \ubcc0\ud558\ub294 \uae08\ub9ac\ub098 \uc8fc\uc2dd\uc758 \ud750\ub984\uc744 \uc608\uce21(\ucd94\uc815)\ud558\ub294 \uac83\uc774\ub098  \ubaa8\ub450 \ud604\uc7ac\uac00 \uc544\ub2cc \ubc14\ub85c \ub2e4\uc74c\uc21c\uac04\uc744 \ud604\uc7ac\uc640 \uacfc\uac70\ub370\uc774\ud0c0\ub85c \uc608\uce21\ud558\ub294 \uac83\uc73c\ub85c<\/span><\/p>\r\n

\ucd94\uc815\uc740  \ud1b5\uacc4\uc801\ubc29\ubc95\uc73c\ub85c  \uc778\uacfc\uad00\uacc4\ub97c \uae30\ubc18\uc73c\ub85c \uc608\uce21\ud558\ub294 \uac83\uc774\ub2e4.<\/span><\/p>\r\n

\"2.jpg\"<\/p>\r\n

http:\/\/www.youtube.com\/watch?v=vfgIXdbEyUw&feature=related<\/span><\/a> <\/span><\/p>\r\n

http:\/\/www.youtube.com\/watch?v=095IOfqF4nY&feature=related<\/span><\/a><\/p>\r\n

 <\/span><\/p>\r\n

\uce7c\ub9cc \ud544\ud130\ub294 <\/span><\/p>\r\n

\uc218\ud559\uc801\uc73c\ub85c <\/span>\uc120\ud615 \uc2dc\uc2a4\ud15c(Linear System)\uc758 \uc0c1\ud0dc\ub97c \uc608\uce21<\/span><\/u>\ud574\uc11c \ubc1c\uc0dd\ud560 \uc218 \uc788\ub294 \uc624\ub958\ub97c \ucd5c\uc18c\ud654 \ud558\uba74\uc11c \uc608\uce21\ud55c\ub2e4.<\/span><\/p>\r\n

\uc120\ud615\uc2dc\uc2a4\ud15c (Linear Systems)\uc774\ub77c\ub294 \uac83\uc740  y= ax + b \uc640 \uac19\uc740 \uac83\uc778\ub370 \uc790\uc5f0\uc758 \ub300\ubd80\ubd84 \uc18d\uc131\uc740 \ube44\uc120\ud615\uc744 \ubcf4\uc778\ub2e4.<\/span><\/p>\r\n

\uc0ac\uc2e4 \ube44\uc120\ud615\uc744 \uc704\ud574 UKF\ub098 EKF\ub97c \uc8fc\ub85c \uc0ac\uc6a9\ud558\uc9c0\ub9cc  \ube44\uc120\ud615\uc744 \uc120\ud615\uc73c\ub85c \ub2e8\uc21c\ud654\uc2dc\ud0ac\uc218 \uc788\ub294 \uac83\uc740 \ub300\ucda9 \uc801\uc6a9\uc774 \uac00\ub2a5\ud558\ub2e4\uace0 \ud55c\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uce7c\ub9cc\ud544\ud130\ub97c \uc801\uc6a9\ud558\uae30 \uc704\ud574\uc11c\ub294  \uc2e0\ud638\uac00 \uc120\ud615\uc801\uc73c\ub85c \uadfc\uc0ac\ud654\ub418\uc5b4\uc57c \ud558\ub294\ub370...   \uc5ec\uae30\uc5d0 \uc88b\uc740 \uc790\ub8cc\uac00 \uc788\uad70\uc694..<\/span>
http:\/\/academic.csuohio.edu\/simond\/courses\/eec644\/kalman.pdf<\/span><\/a><\/p>\r\n

http:\/\/www.cs.unc.edu\/~tracker\/media\/pdf\/SIGGRAPH2001_CoursePack_08.pdf<\/span><\/a><\/p>\r\n

http:\/\/blog.naver.com\/hangondragon\/20066836673<\/span><\/a><\/p>\r\n

http:\/\/blog.naver.com\/hangondragon\/20066898769<\/span><\/a>
http:\/\/blog.naver.com\/housemoon\/96039559<\/span><\/a>   ======== \uc5ec\uae30\uc5d0 \ube44\ud589\uae30\uc5d0 \uc801\uc6a9\ud55c \ub17c\ubb38\uacfc \uc18c\uc2a4\uac00 \uc788\ub124\uc694..<\/span><\/p>\r\n

   <\/span><\/p>\r\n

\ud760!! <\/span><\/font><\/strong><\/p>\r\n

\ud558\uc9c0\ub9cc \uc77d\uc5b4\ubcf4\uba74 \uc5b4\ub835\uace0 \uba38\ub9ac\uc5d0 \uadf8\ub9bc\uc774 \uadf8\ub824\uc9c0\uc9c0 \uc54a\uc73c\ub2c8..<\/span><\/p>\r\n

\ub0b4 \ub098\uc05c \uba38\ub9ac\ub9cc \ud0d3\ud560 \uc218 \ubc16\uc5d0 \uc5c6\ub124.....<\/span><\/p>\r\n

\uacb0\uad6d  \ub0b4\uac00  \uc774\ud574\ud558\ub294 \ubc29\ubc95\uc73c\ub85c \ub0b4 \uc2dd\uc73c\ub85c \uc801\ub294 \uc218\ubc15\uc5d0.. \uc774\uac74 <\/span>\ub098\ub9cc\uc744 \uc704\ud55c  \uc815\ub9ac\ub178\ud2b8<\/span><\/strong>\uc774\ub2c8....<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\ub2e4\uc2dc  \ud55c\ubc88  <\/span>\ud544\ud130<\/span><\/strong>\ub77c\ub294 \ub9d0\uc5d0 \uc9d1\uc911\ud558\uc790..<\/span><\/p>\r\n

\uc8fc\ud30c\uc218 \uc601\uc5ed\uc5d0\uc11c\uc758 \ud2b9\uc131\uc5d0 \ub530\ub77c  LPF(low-pass filter), HPF(high-pass filter), BPF(band-pass filter)\ub4f1\uc73c\ub85c \ubd84\ub958\ud558\uace0  \uc2e0\ud638\ub97c \uc120\ud0dd\ud55c\ub2e4.<\/span><\/p>\r\n

\ud558\uc9c0\ub9cc  \ubb3c\ub9ac\uc801 \ud544\ud130\uac00 \uc544\ub2cc  DSP\uac19\uc740 \uacc4\uc0b0\uc5d0 \uc758\ud55c  \ud544\ud130\ub9c1\uc5d0\uc11c\ub294  \uc8fc\ud30c\uc218\uc601\uc5ed\uc740  \ucd5c\uc801\ud574\ub97c  \uad6c\ud558\ub294 \uac83\uc774 \uc5b4\ub824\uc6b0\ubbc0\ub85c<\/span><\/p>\r\n

\uc774\uac83\uc744 \uc2dc\uac04\uc601\uc5ed\uc5d0\uc11c \ucc98\ub9ac\ud558\uc5ec  Winer Filter\uc758 \uae30\uc220\uc801 \ubb38\uc81c\uc810\uc744 \uc644\uc804\ud788 \ud574\uacb0\ud55c \uac83\uc774 \uce7c\ub9cc\uc774\ub77c\uace0 \ud558\ub2c8...<\/span><\/p>\r\n

\uc6b0\ub9ac\uac00 \ub9ce\uc774 \ubc30\uc6b4 \ud4e8\ub9ac\uc5d0\ubcc0\ud658\uc774\ub098 \ub77c\ud50c\ub77c\uc774\uc2a4\ubcc0\ud658\ub3c4  \uc2dc\uac04\ucd95\uacfc  \uc8fc\ud30c\uc218\ucd95\uc758 \ubcc0\ud658\uc774 \uc5c8\ub294\ub370...<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc2e0\ud638<\/span><\/strong>\ub294 <\/span><\/p>\r\n

\uc601\uc0c1\uc774\ub098 \uc74c\uc131 \ud639\uc740 \uc88c\ud45c,\uc555\ub825\ub4f1\uc73c\ub85c \ub2e4\uc591\ud55c\ub370 \uc13c\uc11c\ub97c \uac70\uce58\uba74\uc11c \uc13c\uc11c\uc5d0 \uc758\ud55c \ubb3c\uc131\uc801 \ub178\uc774\uc988\uac00 \ucca8\uac00 \ub418\ub294 \uacbd\uc6b0\uac00 \ub300\ubd80\ubd84\uc774\ub2e4.<\/span><\/p>\r\n

\ucc28\uc758 \uc18d\ub3c4\ub294 \ub3c4\ub85c\ub178\uba74\uc5d0 \ub3cc\uc774 \ub9ce\uac70\ub098 \uc0ac\ub78c\uc774 \ub9ce\uc544\ub3c4  \uc601\ud5a5\uc744 \ubbf8\uce58\uace0<\/span><\/p>\r\n

\uc74c\uc131\uc740 \ub9c8\uadf8\ub124\ud2f1\uc758 \uace0\uc720\uc7a1\uc74c\uc73c\ub85c\ub3c4 \ubcf8\ub798 \uc74c\uc131\uc5d0 \ub9c8\uadf8\ub124\ud2f1\ub178\uc774\uc988(\ud788\uc2a4\ud14c\ub9ac\uc2dc\uc2a4)\uac00 \ucca8\uac00\ub418\uc5b4 \ub098\ud0c0\ub09c\ub2e4.<\/span><\/p>\r\n

\uc601\uc0c1\ub3c4  \uc601\uc0c1\uc13c\uc11c(\uc2a4\ubbf8\uc5b4,\uc800\uc870\ub3c4\ub178\uc774\uc988,\uace0\uc815\uc7a1\uc74c,\ubaa8\uc544\ub808\ub4f1)\uc5d0  \ucca8\uac00\ub418\uc5b4 \ub098\ud0c0\ub098\ubbc0\ub85c \uc801\uc808\ud55c  \uad11\ud559\/\uacc4\uc0b0\ud544\ud130\ub97c \ucd94\uac00\ud55c\ub2e4.  <\/span><\/p>\r\n

\uc6c0\uc9c1\uc784\uc744 \ucd94\uc801\ud558\ub824\uba74  \uc5b4\ub5a0\ud55c \ub178\uc774\uc988\ub97c \ud544\ud130\ub9c1\ud574\uc57c\ub9cc \ud558\ub294 \uac78\uae4c?<\/span><\/p>\r\n

\uac00\ub9cc\ud788 \uc0dd\uac01\ud574 \ubcf4\uba74  \ubb3c\uccb4\ub294  <\/span>\uc790\uc2e0\uc758 \uad00\uc131\uc5d0 \uc601\ud5a5\uc744 \ubc1b\uace0<\/span><\/u>  \uc8fc\ubcc0\uc758 \uac04\uc12d\uc801 \ub178\uc774\uc988\uc5d0 \uc601\ud5a5\uc744 \ubc1b\uc744 \uac83 \uac19\uc740\ub370...<\/span><\/p>\r\n

\ub300\ubd80\ubd84\uc758 \uc0ac\ub78c\ub4e4\ub3c4 <\/span>\uc624\ub798 \ub204\uc801\ub41c \uc2e0\uc6a9\ub370\uc774\ud0c0\ub97c \ubc97\uc5b4\ub09c \ud589\uc704\ub97c \uac70\uc758 \ud558\uc9c0 \uc54a\ub294 \uac83 \uac19\uc740 \ud1b5\uacc4\uc801 \ucc98\ub9ac<\/span><\/u>\uac00 <\/span>\ud589\ub3d9\uc608\uce21\uc744 \uac00\ub2a5\ucf00 \ud558\ub294 \uac83<\/span><\/u> \ucc98\ub984..<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc120\ud615\uc2dc\uc2a4\ud15c\uc740 y=ax+b\ub85c \ud45c\ud604\ub418\ub294 \uc815\ub3c4\uc774\ubbc0\ub85c \ub2e8\uc21c\ud558\ub098  \uc5d0\ub7ec\uac00 \ud3ec\ud568\ub41c\ub2e4.<\/span><\/p>\r\n

\ube44\uc120\ud615\uc744 \uc704\ud574 UKF\ub098 EKF\ub97c \uc8fc\ub85c \uc0ac\uc6a9\ud558\uc9c0\ub9cc  \ube44\uc120\ud615\uc744 \uc120\ud615\uc73c\ub85c \ub2e8\uc21c\ud654\uc2dc\ud0ac\uc218 \uc788\ub294 \uac83\uc740 \ub300\ucda9 \uc801\uc6a9\uc774 \uac00\ub2a5\ud558\ub2e4\uace0 \ud55c\ub2e4<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uce7c\ub9cc\ud544\ud130(LKF)\uc758 \uc54c\uace0\ub9ac\ub4ec\uc744  \ucef4\ud4e8\ud130\ub85c \uad6c\ud604\ud558\ub294 \ub2e8\uacc4\ub97c \uc0b4\ud3b4\ubcf4\uc790.<\/span>
 1) \ud604\uc7ac\uc758 \uc0c1\ud0dc\ubcc0\uc218 \ucd94\uc815\uce58 \ubc0f \uacf5\ubd84\uc0b0 \uac12\uc73c\ub85c \ubd80\ud130 \ub2e4\uc74c \uce21\uc815\uc2dc\uac04\uc5d0\uc11c\uc758 \uc0c1\ud0dc\ubcc0\uc218 \ucd94\uc815\uce58 \ubc0f \uacf5\ubd84\uc0b0\uc744 \uacc4\uc0b0\ud558\ub294 \ub2e8\uacc4.<\/span><\/p>\r\n

     \uc218\uce58\uc801\uc73c\ub85c\ub294 \uc2dc\uac04\uc801\ubd84\uc5d0 \ud574\ub2f9\ud558\ub294 \ub2e8\uacc4\uc774\uba70  <\/span>Propagation \ub2e8\uacc4<\/span><\/strong>\uc774\ub2e4<\/span><\/u>.<\/span>
 2) \uc0c8\ub85c\uc6b4 \uce21\uc815\uce58\uc640 Propagation\uc73c\ub85c \ubd80\ud130 \uc5bb\uc5b4\uc9c4 \uc0c1\ud0dc\ubcc0\uc218 \ucd94\uc815\uce58\ub97c \ud63c\ud569\ud558\uc5ec \uc0c1\ud0dc\ubcc0\uc218 \ucd94\uc815\uce58\ub97c \uc0c8\ub86d\uac8c \uacc4\uc0b0\ud558\ub294 \ub2e8\uacc4.<\/span><\/p>\r\n

     \uc774 \ub2e8\uacc4\uc5d0\uc11c \uce7c\ub9cc\ud544\ud130 \uac8c\uc778 K\ub97c \ucd5c\uc801\ucd94\uc815 \uc774\ub860\uc5d0 \ub530\ub77c \uacc4\uc0b0\ud558\ub294\ub370 <\/span>Update \ub2e8\uacc4<\/span><\/strong>\ub77c<\/span><\/u> \ud55c\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc120\ud615\uc2dc\uc2a4\ud15c<\/span><\/strong>\uc740<\/span><\/p>\r\n

\uc9c1\uc811 \uc13c\uc11c\ub4e4\uc5d0\uc11c \uce21\uc815\uac00\ub2a5\ud55c <\/span>\uce21\uc815\ubaa8\ub378\ud568\uc218<\/span><\/strong>(\uc624\ucc28\ud3ec\ud568)\uc640  <\/span><\/p>\r\n

\ud604\uc7ac\uc0c1\ud0dc\ub97c \ud45c\ud604\ud558\uc9c0\ub9cc \uc9c1\uc811 \uce21\uc815\uc774 \ubd88\uac00\ub2a5\ud55c <\/span>\uc0c1\ud0dc\ubaa8\ub378\ud568\uc218<\/span><\/strong>\ub85c \ub2e8\uc21c\ud654\uc2dc\ud0a8 \ub450\uac1c\uc758 \uc2dd\uc73c\ub85c \ud45c\ud604\uc774 \uac00\ub2a5\ud558\ub2e4\uace0 \ud55c\ub2e4.<\/span><\/p>\r\n

\"3.jpg\"<\/p>\r\n

<\/p>\r\n

\uc704 \uc2dd\uc5d0\uc11c <\/span><\/p>\r\n

Y\ub294 \uce21\uc815\uac12\uc73c\ub85c z\ub294 \uce21\uc815\uc7a1\uc74c\uc774\uba70  \uc0c1\ud0dc\ubaa8\ub378\uc758 x\uac12\uc744 \uc774\uc6a9\ud558\uc5ec Y\ub97c \ud655\uc815\ud55c\ub2e4.<\/span><\/p>\r\n

X\ub294 \uc2dc\uc2a4\ud15c\uc758 \ud604\uc7ac\uc0c1\ud0dc\uac12\uc73c\ub85c  \uc704\uce58\ub098 \uc18d\ub3c4\ub4f1\uc774 \ub420\uc218 \uc788\ub294\ub370 w\uc778 \ud504\ub85c\uc138\uc11c\uc7a1\uc74c\uacfc  Y\ub97c \uc774\uc6a9\ud558\uc5ec \uad6c\ud560\uc218 \uc788\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc2e4\uc81c \uad6c\ud558\ub824\ub294 \uac83\uc774 <\/span>\ub2e4\uc74c \uc2dc\uac04\uc758 X \uac12<\/span><\/strong>\uc774\ub2e4.  <\/span><\/p>\r\n

u\ub77c\ub294 \ubcc0\uc218\uc5d4 \uc2dc\uc2a4\ud15c\uc5d0\uc11c \uc81c\uc5b4 \ud560\uc218 \uc5c6\ub294 \uc7a1\uc74c(\uc608\ub85c \ud654\uc774\ud2b8\ub178\uc774\uc988)\uc774 \ub4e4\uc5b4\uc624\uace0    <\/span><\/p>\r\n

\ud604\uc7ac\uc758 X\uac12\uc5d0 \ud504\ub85c\uc138\uc11c\uc7a1\uc74c w\uac00 \ud569\uccd0\uc838  \uc815\ud574\uc9c0\ub294\ub370  \uacb0\uad6d \ud604\uc7ac\uc758 x\uac00 Y\uc640 z\uc5d0 \uc601\ud5a5\ubc1b\uc73c\ubbc0\ub85c... \ud760 \ud53c\ub4dc\ubc31\uc774 \uac78\ub9ac\ub124.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc2e4\uc81c \ud45c\ud604\uc2dd\uc740 \uc544\ub798\uc640 \uac19\ub2e4.<\/span><\/p>\r\n

\"4.jpg\"<\/p>\r\n

<\/p>\r\n

Xk-1\uc740 \uc774\uc804\uc0c1\ud0dc\uc774\uba70 Xk\ub294 \ud604\uc0c1\ud0dc\uc774\ub2e4. \ubb3c\ub860 P\ub3c4 \uac19\ub2e4.<\/span><\/p>\r\n

K\ub294 \uce7c\ub9cc\uac8c\uc778(Kalman Gain),  P\ub294 \ucd94\uc815\uc624\ucc28\uacf5\ubd84\uc0b0 \uba54\ud2b8\ub9ad\uc2a4(the estimation error corvariance matrix)<\/span><\/p>\r\n

^\ub294 \uc0c1\ud0dc\ubcc0\uc218\ub77c\ub294 \ud45c\ud604\uc774\uace0 x-\uc758 -\ub294 \uc774\uc804\uc0c1\ud0dc\ub97c \ub9d0\ud55c\ub2e4\uace0 \ubcf4\uba74 \ub420\uac83 \uac19\ub2e4.<\/span><\/p>\r\n

Q(\uc608\uce21\ub178\uc774\uc988 \uacf5\ubd84\uc0b0), R(\uce21\uc815\ub178\uc774\uc988 \uacf5\ubd84\uc0b0),A,B,H,u<\/span><\/p>\r\n

 <\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc5ec\uae30\uc11c\ub294   <\/span>Time Update<\/span><\/strong>\uc640  <\/span>Measurement Update<\/span><\/strong>\ub77c\ub294 \ub450\uac1c\uc758 \uc0c1\ud0dc\ub85c \ub098\ub220 \uad6c\ud604\ub418\uc5c8\ub2e4.<\/span><\/p>\r\n

\uc774\uac83\uc740 \uc704\uc5d0\uc11c \ub9d0\ud55c <\/span> \uc0c1\ud0dc\ubaa8\ub378\ud568\uc218<\/span><\/strong>\uac00<\/span>  Time Update<\/span><\/strong>\uc774\uace0<\/span>  \uce21\uc815\ubaa8\ub378\ud568\uc218<\/span><\/strong>\uac00   <\/span>Measurement Update<\/span><\/strong>\uc640 \uac19\ub2e4 <\/span><\/p>\r\n

 <\/span><\/p>\r\n

\ucd08\uae30\uc5d0 <\/span><\/p>\r\n

X\uc640 P\ub97c \uc704\ud55c \ucd08\uae30\uc608\uce21\uc774 \uc81c\uacf5\ub418\uc5b4\uc57c \ud55c\ub2e4. <\/span><\/p>\r\n

\uc0c1\uc218\ud56d\uc778 \ubcc0\ud558\uc9c0 \uc54a\ub294 \ud589\ub82c A,H,Q,R \uac12\uc774 \uc788\uace0  \ub8e8\ud2f4\uc744 \uc2dc\uc791\ud558\uae30\uc5d0 \uc55e\uc11c \ucd08\uae30\uac12\uc774 \uc774\ubbf8 \uc788\uc5b4\uc57c \ud55c\ub2e4.<\/span><\/p>\r\n

Time Update <\/span><\/font>: \uc608\uce21\ub2e8\uacc4(\uc2dc\uac04\uac31\uc2e0) :<\/span><\/strong> <\/span>\uc774\uc804\ub370\uc774\ud0c0\ub97c \uadfc\uac70\ub85c \uc608\uce21<\/span><\/font>

   1) \uc774\uc804\uc0c1\ud0dc\ubca1\ud130x\uc5d0 A\ub97c \uacf1\ud558\uace0 u(\uc608\uce21\uc624\ucc28\uc7a1\uc74c)\uc5d0 B\ub97c \uacf1\ud558\uc5ec \uad6c\ud55c  X\ub294  \uc21c\uc218\ud55c \uc0c1\ud0dc\uc608\uce21\uac12\uc774\ub2e4. <\/span><\/p>\r\n\r\n<\/span>

   2) \uc5d0\ub7ec\ubcf4\uc815\uc744 \uc704\ud574 \uc218\ud589\ud558\ub294 \ub2e8\uacc4\ub85c  \uc218\uc9d1\ub41c \uc790\ub8cc\ub97c \uae30\ubc18\uc73c\ub85c  \uc5bc\ub9c8\uc758  \ubcf4\uc815\uc744 \ud560\uc9c0 \uacb0\uc815\ud55c\ub2e4. (\ud504\ub85c\uc138\uc2a4\ub178\uc774\uc988 \uc608\uce21)<\/span><\/p>\r\n\r\n<\/span>

 <\/span><\/p>\r\n\r\n<\/span>

Measurement Update<\/span><\/font> : \uad50\uc815\ub2e8\uacc4(\uce21\uc815\uce58\uac31\uc2e0) :<\/span><\/strong> <\/span>\uc0c8\ub85c\uc6b4 \uce21\uc815\uac12\uc73c\ub85c \uad50\uc815  <\/span><\/font><\/p>\r\n\r\n<\/span>

   1) \uce7c\ub9cc\uac8c\uc778\uc744 \uad6c\ud55c\ub2e4.( \ud504\ub85c\uc138\uc2a4\ub178\uc774\uc988(\uc608\uce21\uc624\ucc28\ubd84)\uacfc  \uce21\uc815\ub178\uc774\uc988(\uc2e4\uce21\uc7a1\uc74c\ubd84)\ub97c  \uc774\uc6a9\ud558\uc5ec \uacc4\uc0b0) <\/span><\/p>\r\n\r\n<\/span>

   2) \uce21\uc815\uc7a1\uc74cz\ub97c \ucd94\uac00\ud558\uc5ec \ud604\uc7ac\uc758 \uc0c1\ud0dc\ubca1\ud130x\ub97c \uad6c\ud55c\ub2e4.<\/span><\/p>\r\n\r\n<\/span><\/span><\/font>

   3) \uc608\uce21\uc624\ub958\uc778 \ucd94\uc815\uc624\ucc28\uacf5\ubd84\uc0b0 P\ub97c  \uad6c\ud55c\ub2e4.<\/span><\/font><\/p>\r\n<\/div>

 <\/span><\/p>\r\n

\uc5b4\ub5a4 \uc13c\uc11c\uc5d0\uc11c \uce21\uc815\ub370\uc774\ud0c0\ub97c \uc7a1\uc73c\uba74 \ub178\uc774\uc988(\uc13c\uc11c\uc7a1\uc74c,ADC\uc7a1\uc74c,\ucc98\ub9ac\uc7a1\uc74c..)\uac00 \uc0dd\uae30\uac8c \ub418\uace0,  \uc774\uac83\uc744 \ud1b5\uc0c1 <\/span>\ud544\ud130<\/span><\/strong>\ub85c  \uc81c\uac70\uc2dc\ud0a8\ub2e4.<\/span><\/p>\r\n

\uc774\uac83\uc744 <\/span>\uce21\uc815\ub178\uc774\uc988<\/span><\/strong>\ub77c\uace0 \ud558\ub294\ub370  \uce7c\ub9cc\ud544\ud130\uc5d0\uc11c\ub294  \uce21\uc815\ub178\uc774\uc988\ub97c \uac00\uc6b0\uc2dc\uc548 \ud655\ub960\ubaa8\ub378\uc774\ub77c \uce6d\ud558\uace0 \uac19\uc740 \uc758\ubbf8\ub85c \uc0ac\uc6a9\ud55c\ub2e4.<\/span><\/p>\r\n

\uac00\uc6b0\uc2dc\uc548 \ud655\ub960\ubaa8\ub378\uc740 \uc815\uaddc\ubd84\ud3ec\ub85c  \ud3c9\uade0\uacfc \ubd84\uc0b0\uc744 \uc54c\uba74 \uc2e0\ud638\ud2b9\uc131\uc744  \uc644\ubcbd\ud788 \ud45c\ud604\uac00\ub2a5\ud55c \uc0c1\ud0dc\ubd84\ud3ec\ub85c <\/span><\/p>\r\n

\ub300\ubd80\ubd84\uc758 \ubc1c\uc0dd\ub178\uc774\uc988\ub3c4  \uc81c\ud488\uc758 \ubd88\ub7c9\ucc98\ub984 \uc815\uaddc\ubd84\ud3ec\ub85c \ud45c\ud604\uc774 \uac00\ub2a5\ud558\uae30 \ub54c\ubb38\uc774\ub2e4.<\/span><\/p>\r\n

\ub610\ud55c  \ud604\uc7ac\uce21\uc815\uc5d0\ub294 \ud56d\uc0c1 \ub178\uc774\uc988\uac00 \uc788\uc5b4  \uc624\ucc28\ub97c \uc608\uce21\ud558\uc5ec \uc218\uc815\ud558\uba74\uc11c \uc81c\uc5b4\ud574\uc57c  \ubb38\uc81c\uac00 \ub204\uc801\ub418\uc9c0 \uc54a\ub294\ub2e4.  <\/span><\/p>\r\n

\uc608\uce21\uc740 \ud56d\uc0c1  \uc624\ucc28\ub97c \ubcf4\uc774\ub294\ub370  \uc774\uac83\uc744  Process noise\ub77c \ud558\uace0 <\/span><\/p>\r\n

\uc774 \ud504\ub85c\uc138\uc2a4\ub178\uc774\uc988(\uc608\uce21\uc624\ucc28\ubd84)\uacfc  \uce21\uc815\ub178\uc774\uc988(\uc2e4\uce21\uc7a1\uc74c\ubd84)\uc744 \uacf5\ubd84\uc0b0\uc744 \uc774\uc6a9\ud558\uc5ec  \uac00\uc911\uce58\ucc98\ub9ac\ub97c \ud55c\ub2e4.<\/span><\/p>\r\n

\uc989 Process Noise\uac00  Measurement Noise\ubcf4\ub2e4 \ubd84\uc0b0\uc774 \ud06c\ub2e4\uba74 Measurement\uc5d0 \ub354 \ud070 \uac00\uc911\uce58\uac00 \uacf1\ud574\uc9c8 \uac83\uc774\uba70, <\/span>
\uadf8 \ubc18\ub300\ub77c\uba74 \ubaa8\ub378\uc744 \uc774\uc6a9\ud55c \uc608\uce21 \uac12\uc5d0 \ub354 \ud070 \uac00\uc911\uce58\uac00 \uacf1\ud574\uc838 \uc5c5\ub370\uc774\ud2b8 \ub418\ub294 \uad6c\uc870\ub85c \uc791\ub3d9\ub41c\ub2e4.<\/span><\/p>\r\n


\ubcc0\ud558\uc9c0 \uc54a\ub294 \ud589\ub82c\uac12\uacfc \ucd08\uae30\uac12\uc744 \uac00\uc9c0\uace0 \uc608\uce21\ub8e8\ud2f4\uc758 \uac12\uc744 \uad6c\ud558\uac8c \ub41c\ub2e4.<\/span><\/p>\r\n

\uc774\ud6c4  \uc774 \uac12\uc744 \uc774\uc6a9\ud558\uc5ec Kalman Gain \uacfc  \uce21\uc815\uac12 Z \ub97c \uc774\uc6a9\ud558\uc5ec \ub2e4\uc74c \uc608\uce21\uce58\ub97c \ubcf4\uc815\ud558\uace0 Process Noise \ubd84\uc0b0\uc744 \ubcf4\uc815\ud55c\ub2e4.<\/span><\/p>\r\n

\uc774\ub7f0 \uacfc\uc815\uc744 \ubc18\ubcf5\ud558\uc5ec  \uce7c\ub9cc \ud544\ud130\ub294 \ub3d9\uc791\ud55c\ub2e4.<\/span>
<\/p>\r\n

 <\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc218\uc2dd\uc774 \ub9ce\uc774 \uc5b4\ub835\ub2e4. <\/span><\/p>\r\n

\ub610 \uc704\uc2dd\uc5d0\uc11c \ucd94\uc815\uc624\ucc28 \uacf5\ubd84\uc0b0(estimation error corvariance) P\ub97c \ub9cc\ub098\uc11c <\/span>\uc0c8\uc6a9\uc5b4<\/span><\/strong>\uc778 <\/span>\uacf5\ubd84\uc0b0<\/span><\/strong>(corvariance)\uc744 \uc54c\uace0\uac00\uc57c \ud55c\ub2e4.<\/span> <\/span><\/font><\/p>\r\n

 <\/span>\uacf5\ubd84\uc0b0<\/span><\/font><\/strong>(\u5171\u5206\u6563, <\/span>Covariance<\/span><\/strong>)\uc740   <\/span>2\uac1c\uc758 \ud655\ub960\ubcc0\uc218\uc758 \uc0c1\uad00\uc815\ub3c4\ub97c \ub098\ud0c0\ub0b4\ub294 \uac12\uc774\ub2e4<\/span><\/font><\/strong>.<\/span>
 \ub9cc\uc57d 2\uac1c\uc758 \ubcc0\uc218\uc911 \ud558\ub098\uc758 \uac12\uc774 \uc0c1\uc2b9\ud558\ub294 \uacbd\ud5a5\uc744 \ubcf4\uc77c \ub54c, <\/span>
 \ub2e4\ub978 \uac12\ub3c4 \uc0c1\uc2b9\ud558\ub294 \uacbd\ud5a5\uc758 \uc0c1\uad00\uad00\uacc4\uc5d0 \uc788\ub2e4\uba74 \uacf5\ubd84\uc0b0\uc758 \uac12\uc740 \uc591\uc218\uac00 \ub420 \uac83\uc774\ub2e4. <\/span>
 \ubc18\ub300\ub85c 2\uac1c\uc758 \ubcc0\uc218\uc911 \ud558\ub098\uc758 \uac12\uc774 \uc0c1\uc2b9\ud558\ub294 \uacbd\ud5a5\uc744 \ubcf4\uc77c \ub54c, <\/span>
 \ub2e4\ub978 \uac12\uc774 \ud558\uac15\ud558\ub294 \uacbd\ud5a5\uc744 \ubcf4\uc778\ub2e4\uba74 \uacf5\ubd84\uc0b0\uc758 \uac12\uc740 \uc74c\uc218\uac00 \ub41c\ub2e4. <\/span>
 \uc774\ub807\uac8c \uacf5\ubd84\uc0b0\uc740 \uc0c1\uad00\uad00\uacc4\uc758 \uc0c1\uc2b9 \ud639\uc740 \ud558\uac15\ud558\ub294 \uacbd\ud5a5\uc744 \uc774\ud574\ud560 \uc218 \uc788\ub2e4. <\/span><\/p>\r\n\r\n<\/span>

 \uc989<\/span><\/p>\r\n\r\n<\/span>

   \ubd84\uc0b0(variance)\ub294 \ud37c\uc9c4\uc815\ub3c4\ub97c \ub098\ud0c0\ub0b4\ub294 \ud1b5\uacc4\uce58\uc774\uba70<\/span><\/p>\r\n\r\n<\/span>

   <\/span>\uacf5\ubd84\uc0b0(covariance)\uc740 \ub450 \ubcc0\uc218 X, Y\uc758 \ubcc0\ub3d9 \ubc29\ud5a5\uc744 \ub098\ud0c0\ub0b4\uc8fc\ub294 \ud1b5\uacc4\uce58\uc774\ub2e4.<\/span><\/font><\/u><\/p>\r\n\r\n<\/span>

   Cov(X,Y) > 0 \uc774\uba74 X\uac00 \uc99d\uac00\ud560\ub54c Y\ub3c4 \uc99d\uac00\ud558\uace0, Cov(X.Y) < 0 \uc774\uba74 X\uac00 \uc99d\uac00\ud560\ub54c Y\ub294 \uac10\uc18c\ud558\ub294 \uacbd\ud5a5\uc744 \ubcf4\uc778\ub2e4.<\/span><\/p>\r\n\r\n<\/span>

  \ub450\ubcc0\uc218\uac00 \uc544\ubb34 \uc0c1\uad00\uc5c6\uc774 \ud769\uc5b4\uc838\uc788\uc73c\uba74 Cov(X,Y) = 0\uc5d0 \uadfc\uc811\ud55c\ub2e4.<\/span><\/p>\r\n<\/font>

   <\/span>\"5.jpg\"<\/font><\/p>\r\n\r\n<\/span><\/font>

<\/p>\r\n<\/div>

\uacf5\ubd84\uc0b0(\u5171\u5206\u6563, Covariance)\uc740  2\uac1c\uc758 \ud655\ub960\ubcc0\uc218\uc758 \uc0c1\uad00\uc815\ub3c4\ub85c \ubcc0\ub3d9\ubc29\ud5a5\uc744 \ub098\ud0c0\ub0b4\ubbc0\ub85c \ucd94\uc815\uc5d0 \ud6a8\uacfc\uc801\uc73c\ub85c \uc0ac\uc6a9\ub428\uc740 \uc27d\uac8c \uc608\uce21\ub41c\ub2e4.<\/span><\/p>\r\n

\uc989 \ud504\ub85c\uc138\uc11c\ub178\uc774\uc988(\uc608\uce21\uc624\ucc28\ud56d)X \uc640  \uce21\uc815\ub178\uc774\uc988(\uc2e4\uce21\uc5d0\ub7ec\ud56d)Y\uc758 2\uac1c\ud655\uc728\ubcc0\uc218\uc758 \uacf5\ubd84\uc0b0\uc774\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc5ec\uae30\uae4c\uc9c0\ub294 \ubb50 \uc774\ud574 \ud588\ub2e4\uace0 \uce58\uc790..<\/span><\/p>\r\n

\ud558\uc9c0\ub9cc \ub9ce\uc774 \uc5b4\ub835\ub2e4.. \ub098\ub9cc \uc5b4\ub824\uc6b4\uac00??<\/span><\/p>\r\n

\uc774\uac83\ubcf4\uace0 <\/span>\uc2e4\uc81c \ud504\ub85c\uadf8\ub7a8\uc73c\ub85c \uc791\uc131\ud558\ub824\uba74 <\/span>\uac10<\/span><\/font>\uc774\uc624\uc9c0 \uc54a\ub294\ub2e4<\/span><\/font><\/strong>...<\/span><\/p>\r\n

\ud558\uc9c0\ub9cc \uc774\ucbe4\uc5d0\uc11c \uc815\ub9ac\ud558\uace0 \uc2e4\uc81c \ucf54\ub529\uc740 \ub2e4\uc74c\uc7a5\uc73c\ub85c \ub118\uae30\ub824 \ud55c\ub2e4..<\/span><\/p>\r\n

 <\/span><\/p>\r\n

\uc7a1\uc74c(noise): \uc13c\uc11c\uc7a1\uc74c\uc678\uc5d0 \uac00\ub824\uc9d0, \ub2e4\uc911 \uc6c0\uc9c1\uc784, \uc548\uac1c\ub85c \uc778\ud55c \uc2dc\uc57c\ubd80\uc815\ud655\ub4f1\ub3c4 \uc7a1\uc74c\uc73c\ub85c \uac04\uc8fc\ud568.<\/span><\/p>\r\n

\uae30\ubcf8\uac00\uc815: \uc0ac\uc6a9\ucc98\ub294 \uc120\ud615\uc2dc\uc2a4\ud15c\uc774\uace0 \uce21\uc815\uc7a1\uc74c\uc740 \uc2dc\uac04\uc5f0\ud5a5\uc774 \uc5c6\ub294 \ubc31\uc0c9\uc7a1\uc74c\ub958\uc774\uace0 \uac00\uc6b0\uc2dc\uc548\ubd84\ud3ec\ub97c \ub530\ub974\ub294 \uc7a1\uc74c\uc774\ub2e4.<\/span><\/p>\r\n

               \uc120\ud615\uc2dc\uc2a4\ud15c\uc740 \ud589\ub82c\uc5f0\uc0b0\ub290\uc624 \ud45c\ud604\uc774 \uac00\ub2a5\ud558\uace0 \uac00\uc6b0\uc2dc\uc548\uc740 \ud3c9\uade0\uacfc \uacf5\ubd84\uc0b0\uc73c\ub85c \uc815\ud655\ud788 \ubaa8\ub378\ub9c1\uac00\ub2a5\ud558\uac8c \ub9cc\ub4e4\uc5b4 \uc900\ub2e4.  <\/span><\/p>\r\n

 <\/span><\/p>\r\n

\ub300\ucda9 <\/span>\uc815\ub9ac\ud558\uba74<\/span><\/strong><\/p>\r\n

   1) \uc13c\uc11c\ub85c \ubc1b\uc740 \uce21\uc815\ub370\uc774\ud0c0\ub294 \uce21\uc815\ub178\uc774\uc988\ub97c \uac00\uc9c4\uc0c1\ud0dc\ub85c\uc11c  \ud544\ud130\ub85c \ubcf4\uc815\uc744 \ud558\uac8c\ub41c\ub2e4<\/span><\/p>\r\n

<\/font><\/strong>   2) \ud544\ud130\ub97c  \uc774\uc804\uc5d0\ub294 \uc8fc\ud30c\uc218\uc601\uc5ed\uc73c\ub85c \ubcc0\ud658\ud558\uc5ec \ucc98\ub9ac\ud588\ub294\ub370 \uce7c\ub9cc\ud544\ud130\ub294  \uc2dc\uac04\uc601\uc5ed\uc5d0\uc11c \uadf8\ub0e5 \ucc98\ub9ac\ud55c\ub2e4.<\/span><\/p>\r\n

   3) \uce21\uc815\ub178\uc774\uc988\uac00 \uc788\ub294 \uc624\ucc28\ub370\uc774\ud0c0\ub97c \uc624\ucc28\ub97c \uc880 \uc904\uc5ec\uc11c \uc0ac\uc6a9\ud558\uba74 \uc88b\uaca0\uace0,  \ub204\uc801\uc0ac\uc6a9\ud558\uba74 \ubb38\uc81c\uac00 \uc788\uc744 \uc218 \uc788\uaca0\ub2e4.<\/span><\/p>\r\n

   4) \ud604\uc7ac\uc640 \uacfc\uac70\ub370\uc774\ud0c0\ub85c \ub2e4\uc74c\uc758 \uc0c1\ud0dc\uc778 \ubbf8\ub798\ub97c \ucd94\uc815\ud560\uc218 \uc788\ub2e4\uba74  \ub354\uc774\uc0c1 \ubc14\ub784\uac8c \uc5c6\ub2e4.<\/span><\/p>\r\n

   5) \ud558\uc9c0\ub9cc \uacc4\uc0b0\uc774 \ubcf5\uc7a1\ud558\ub2c8 \uc120\ud615\uc2dc\uc2a4\ud15c\uc5d0\ub9cc \uc801\uc6a9\ud558\uace0 \ud1b5\uacc4\ub97c \uc774\uc6a9\ud558\uc790\ub294 \uac83\uc774\ub2e4.<\/span><\/p>\r\n

   6) \uc608\uce21\ub2e8\uacc4\uc640 \uac31\uc2e0\ub2e8\uacc4\ub85c \ub098\ub220\uc11c \uc608\uce21\uc5d0\ub294 \uc608\uce21\uc624\ucc28(process\uc7a1\uc74c)\ub85c \uac31\uc2e0\uc740 \uce21\uc815\uc624\ucc28(measurement \uc7a1\uc74c)\uc744 \uac10\uc548\ud558\uc5ec \ucc98\ub9ac\ud55c\ub2e4.<\/span><\/p>\r\n

   7) 6\uc758 \ub2e8\uacc4\ub97c \ubc18\ubcf5\uc801\uc73c\ub85c \uc0ac\uc6a9\ud558\ub294\ub370 \ub450\uc624\ucc28\uc758 \uacf5\ubd84\uc0b0\uc744 \uad6c\ud558\uc5ec \ub418\uba39\uc784 \uc801\uc6a9\uc744 \uc904\uc774\uac70\ub098 \ud06c\uac8c\ud558\ub294 \ubc29\uc2dd\uc778 \ud53c\ub4dc\ubc31\uc744 \uac78\uc5b4\ubc84\ub9b0\ub2e4.<\/span><\/p>\r\n

   8) \ucd08\uae30\uce58\uc758 \uac12\uacfc \uac01 \uacc4\uc218\ud589\uc5f4\uc744 \uad6c\ud560 \ud544\uc694\uac00 \uc788\ub2e4. <\/span><\/p>\r\n

<\/p>\r\n

<\/a><\/p>\r\n

<\/a>   9) \uc774 \uc815\ub3c4\ub85c \uc2e4\uc81c\ucf54\ub529\uc774 \ub420\uc9c0 \uc54c\uc544\ubd10\uc57c \uaca0\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

  * \uc0c8\ub85c\uc6b4 \uc815\ubcf4\uac00 \uc785\ub825\ub418\uba74<\/span><\/p>\r\n

      \uc774\uc804 \uc815\ubcf4\uc640 \uc0c8\ub85c\uc6b4\uc815\ubcf4\uc5d0 \uac01\uac01\uc758 \uc815\ubcf4\uc5d0 \uac00\uc911\uce58\ub97c \ubd80\uc5ec\ud558\uace0 \ub450\uc815\ubcf4\uc758 \uac00\uc911\uce58 \uc870\ud569\uc744 \uc774\uc6a9\ud558\uc5ec(\uacf5\ubd84\uc0b0)<\/span><\/p>\r\n

      \uc774\ubbf8 \uc54c\uace0 \uc788\ub294 \uc815\ubcf4\ub97c \uac31\uc2e0\ud560\uc9c0 \uacb0\uc815\ud55c\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

<\/p>\r\n

\uc9c0\uae08\uae4c\uc9c0 \uc0b4\ud3b4\ubcf8 LKF(Linear Kalman Filter)\ub294  \uc2e4\uc81c\ud658\uacbd\uc5d0\uc11c\ub294  \uc798 \ub3d9\uc791\ub418\uc9c0 \uc54a\ub294 \uacbd\uc6b0\uac00 \ub9ce\ub2e4.<\/span><\/p>\r\n

\uc774\uc720\ub294 \uc2e4\uc81c\ud658\uacbd\uc740 \uc2dc\uc2a4\ud15c\uc774 \uc120\ud615\uc774 \uc544\ub2cc \ube44\uc120\ud615\uc774\uace0  \uc7a1\uc74c\uacbd\uc6b0\ub3c4 Gaussian\uc774 \uc544\ub2cc \uacbd\uc6b0\uac00  \ub9ce\uc544   \ubcc0\ud615\uce7c\ub9cc\ud544\ud130\uac00  \uc694\uad6c\ub41c\ub2e4.<\/span><\/p>\r\n

\uc989 Extended Kalman Filter(EKF)\uac00  \ub9ce\uc774 \uc0ac\uc6a9\ub418\uba70 <\/span><\/p>\r\n

   \uc774\uac83\uc740  \uc120\ud615\ud654 \uce7c\ub9cc\ud544\ud130(Linearized KF)\uc640  \uc720\uc0ac\ud558\ub098 \uc120\ud615\ud654\ud558\ub294 \uae30\uc900\uc810\uc744 \uacc4\uc18d \uac31\uc2e0\ud574 \ub098\uac04\ub2e4\ub294 \ud2b9\uc9d5\uc744 \uac00\uc9c0\uace0 \uc788\ub2e4<\/span><\/p>\r\n

\ub610 \ud655\uc7a5\uce7c\ub9cc\ud544\ud130\ub85c\ub3c4 \ubd80\uc871\ud55c \ubd80\ubd84\uc774 \ub9ce\uc544 \ubc18\ubcf5\uc801 \ud655\uc7a5\uce7c\ub9cc\ud544\ud130\ub97c \uc0ac\uc6a9\ud558\uae30\ub3c4 \ud55c\ub2e4.<\/span><\/p>\r\n

\ub3d9\uc2dc\uc5d0 \uc5ec\ub7ec\uac1c\uc758 \uac00\uc815\uc774 \ud544\uc694\ud55c \ubaa8\ub378\uc77c \uacbd\uc6b0 \ucf58\ub374\uc138\uc774\uc158 \uc54c\ub85c\ub9ac\uc998(\ud30c\ud2f0\ud074 \ud544\ud130 \uae30\ubc18)\uc73c\ub85c \uc811\uadfc\ud55c\ub2e4.<\/span><\/p>\r\n

 <\/span><\/p>\r\n

http:\/\/www.innovatia.com\/software\/papers\/kalman.htm<\/span><\/a><\/p>\r\n

http:\/\/www.aistudy.com\/paper\/pdf\/face_kim.pdf<\/span><\/a><\/p>\r\n

http:\/\/pinkwink.kr\/78<\/span><\/a>
http:\/\/blog.naver.com\/helloktk\/80032439565<\/span><\/a><\/p>\r\n

 <\/span><\/p>\r\n

\uc720\uc6a9\ud55c\ub3d9\uc791\uc2dc\ubc94 \ubcf4\uae30::<\/span><\/p>\r\n

 <\/span>http:\/\/www.youtube.com\/watch?v=9EiVbC1EmDk<\/span><\/a><\/p>\r\n

 <\/span>http:\/\/www.youtube.com\/watch?v=x32TGROYbdU<\/span><\/a><\/p>\r\n

 <\/span>http:\/\/www.youtube.com\/watch?v=X4DnOcsuR10<\/span><\/a><\/p>\r\n

 <\/span>http:\/\/www.youtube.com\/watch?v=LrUmvyB7H5k<\/span><\/a>    Blob+kalman<\/span><\/p>\r\n

 <\/span>http:\/\/www.youtube.com\/watch?v=VsN23K7Rzmw<\/span><\/a>  Blob<\/span><\/p>\r\n

 <\/span>http:\/\/www.youtube.com\/watch?v=6TG_pDEhXME&feature=related<\/span><\/a><\/p>\r\n

 <\/span>http:\/\/www.youtube.com\/watch?v=fRowYlxKt7s&feature=related<\/span><\/a>   : \ub2e4\uc911\ud0c0\uac9f<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"

\ucd9c\ucc98 : http:\/\/msnayana.blog.me\/80106682874 \ub8e8\ud504\ub9cc \uce7c\ub9cc\uc774 1960\ub144\ub300\ucd08 \uac1c\ubc1c\ud55c \ud544\ud130\ub85c  \ucef4\ud4e8\ud130\ube44\uc83c,\ub85c\ubd07, \ub85c\ucf13, \uc704\uc131, \ubbf8\uc0ac\uc77c, \uc81c\uc5b4\ubd84\uc57c\uc5d0 \ub9ce\uc774 \uc774\uc6a9\ub418\ub294 \uc54c\uace0\ub9ac\uc998\uc778\ub370 \uc774\uac83\uc744  GPS,\uc8fc\uc2dd, \ub0a0\uc528\uc608\uce21, \uc778\uad6c\uc608\uce21\uac19\uc740 \ubd80\ubd84\uc5d0\ub3c4 \uc774\uc6a9\uc744 \ud558\uace0 \uc788\ub2e4~~  \ubbf8\ub798\ub97c \uc704\ud574 \uc880 \uc815\ub9ac\ud574\ubcf4\uc790^^..   \uce7c\ub9cc\ud544\ud130\ub294 \uacfc\uac70\uc758 \uce21\uc815\ub370\uc774\ud0c0(\uae30\uc874\uc5d0 \uc54c\uace0\uc788\ub358\uac83)\uc640  \uc0c8\ub85c\uc6b4 \uce21\uc815\ub370\uc774\ud0c0\ub97c \uc0ac\uc6a9\ud558\uc5ec   \ub370\uc774\ud130\uc5d0 \ud3ec\ud568\ub41c \ub178\uc774\uc988\ub97c \uc81c\uac70\uc2dc\ucf1c   \uc0c8\ub85c\uc6b4 \uacb0\uacfc\ub97c \ucd94\uc815(estmate)\ud558\ub294\ub370 \uc0ac\uc6a9\ud558\ub294 \uc54c\uace0\ub9ac\uc998\uc73c\ub85c   \uc120\ud615\uc801\uc6c0\uc9c1\uc784\uc744 \uac00\uc9c0\ub294 \ub300\uc0c1\uc744 \uc7ac\uadc0\uc801\uc801\uc6a9\uc73c\ub85c \ub3d9\uc791\uc2dc\ud0a8\ub2e4. \uce7c\ub9cc\ud544\ud130\ub294 1960\ub144\ub300\uc5d0 \uc544\ud3f4\ub85c \uc6b0\uc8fc\uc120\uc758 \ub2ec \uc5ec\ud589\uc2dc\uc5d0 \ucc98\uc74c \uc801\uc6a9\ub418\uc5c8\ub2e4\ub294\ub370  \ud604\uc7ac\ub294 \ub2e4\uc591\ud55c \uc885\ub958\uc758 \uce7c\ub9cc\ud544\ud130\uac00 \uac1c\ubc1c\ub418\uc5b4 \uc788\ub2e4. […]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[29],"tags":[],"class_list":["post-725","post","type-post","status-publish","format-standard","hentry","category-multi_copter_base"],"_links":{"self":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/725","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=725"}],"version-history":[{"count":0,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/725\/revisions"}],"wp:attachment":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=725"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=725"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=725"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}