Bias-Constrained H₂ Optimal Finite Impulse Response Filtering for Object Tracking Under Disturbances and Data Errors

The H 2 finite impulse response (FIR) filtering approach allows for optimal object tracking under harsh industrial conditions. In this brief, we propose a bias-constrained H 2 optimal unbiased FIR ( H 2 -OUFIR) filter for linear discrete time-invariant systems under bounded disturbances, data errors...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2022-07, Vol.30 (4), p.1782-1789
Main Authors: Pale-Ramon, Eli G., Shmaliy, Yuriy S., Andrade-Lucio, Jose A., Morales-Mendoza, Luis J.
Format: Article
Language:English
Subjects:
<italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H ₂ optimal unbiased finite impulse response (<italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H ₂-OUFIR) filter
Finite impulse response filters
Kalman filter (KF)
Kalman filters
Measurement errors
Minimization
Object tracking
suboptimal <italic xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">H ₂ FIR filter
Transfer functions
Transforms
unbiased FIR (UFIR) filter
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Summary:The H 2 finite impulse response (FIR) filtering approach allows for optimal object tracking under harsh industrial conditions. In this brief, we propose a bias-constrained H 2 optimal unbiased FIR ( H 2 -OUFIR) filter for linear discrete time-invariant systems under bounded disturbances, data errors, and initial errors. The H 2 -OUFIR filter is derived using the backward Euler method by minimizing the squared Frobenius norm of the weighted transfer function. A bias-constrained suboptimal H 2 FIR filtering algorithm using a linear matrix inequality (LMI) is also designed. Based on experimental examples of global positioning system (GPS)-based vehicle tracking and video human tracking, it is shown that the batch H 2 -OUFIR filter operating on short horizons with full error matrices is able to outperform the Kalman, optimal finite impulse response (OFIR), and unbiased finite impulse response (UFIR) filters.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2021.3118321