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master's thesis
Estimacija stanja i praćenje manevrirajućih objekata
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:231779
Jelavić, Matej
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Jelavić, M. (2022). Estimacija stanja i praćenje manevrirajućih objekata (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:231779

Jelavić, Matej. "Estimacija stanja i praćenje manevrirajućih objekata." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:231779

Jelavić, Matej. "Estimacija stanja i praćenje manevrirajućih objekata." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:231779

Jelavić, M. (2022). 'Estimacija stanja i praćenje manevrirajućih objekata', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:231779

Jelavić M. Estimacija stanja i praćenje manevrirajućih objekata [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:231779

M. Jelavić, "Estimacija stanja i praćenje manevrirajućih objekata", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:231779

Metadata
TitleEstimacija stanja i praćenje manevrirajućih objekata
Title (english)State Estimation and Tracking of Maneuvering Objects
AuthorMatej Jelavić
MentorIvan Marković (mentor)
Committee memberIvan Petrović (član povjerenstva)
Committee memberMarija Seder (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Estimacija stanja i praćenje manevrirajućih objekata jedan je od važnijih zadataka sustava za praćenje i kontrolu prostora, te autonomnih vozila. Ovaj zadatak otežavaju problemi loših i lažnih mjerenja, nemogućnost modeliranja gibanja objekta jedim modelom, te mogućnost praćenja više meta u prostoru mjerenja. U ovom radu je su opisani Kalmanov filtar i njegov prošireni oblik kao estimator stanja, interaktivni višestruki model kao estimator koji koristi dva ili više filtera u paraleli s različitim modelima, kako bi odredio način gibanja i poboljšao ukupni odziv sustava, te na kraju način povezivanja mjerenja s metom koristeći filtar vjerojatnosti povezivanja i njegov prošireni oblik. Osim opisa napravljena je i simulacija u MATLAB-u gibanja u prostoru za koju se radi estimacija stanja i praćenje koristeći prethodno navedene elemente gdje možemo vidjeti prikladan način rješenju problema ovoga zadatka. Također je moguće vidjeti zašto najjednostavnije ili najbrže rješenje nije uvijek i najoptimalnije.
Abstract (english)
State esimation and tracking of maneuvering objects is one of the most important tasks of the system for monitoring and control of space, and autonomous vehicles. This task is complicated by the problems of bad and false measurements, the inability to model the object movement with one model, and the ability to track multiple targets in the measurement space. This paper describes the Kalman filter and its extended form as a state estimator, an interactive multiple model as an estimator that uses two or more filters in parallel with different models, to determine the mode of motion and improve the overall system response, and finally the way of connecting measurements with a target using a probability association filter and its extended form. In addition to the description, a simulation was made in MATLAB of motion in space, for which state estimation and monitoring are performed using the previously mentioned elements, where we can see a suitable way to solve the problem of this task. It is also possible to see why the simplest or fastest solution is not always the most optimal.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:231779
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 15:09:38