METHOD FOR ADAPTIVE KALMAN FILTERING IN DYNAMIC SYSTEMS

摘要

1. A method for adjusting model and calibration parameters of a sensor system accompanied with said model of external events by adaptive Batman filtering, the sensor output units providing signals in response to said external events and where the number of simultaneously processed sensor output signal values are long, the method comprising the steps of: a) providing a data base unit for storing information on: - a plurality of test point sensor output signal values for some of said sensors and a plurality of values for said external events corresponding to said test point sensor output signal values, or simultaneous time series of said output signal values from adjacent sensors for comparison; - said sensor output signal values accompanied with values for said model and calibration parameters and values for said external events corresponding to a situation; and, - controls of said sensors and changes in said external events corresponding to a new situation; b) providing a logic unit for accessing said sensor signal output values with said model and calibration parameters, said logic unit having a two-way communications link to said data base unit, and computing initial values for unknown model and calibration parameters with accuracy estimates by using Lange's High-pass Filter as required; c) providing said sensor output signal values from said sensors, as available, to said logic unit; d) providing information on said controls and changes to said data base unit; e) accessing current values of said model and calibration parameters and elements of a state transition matrix, and computing by using the Fast Kalman Filter (FKF) formulas wherein the improvement comprises a diagonalization of the error covariance matrix to be obtained by applying factors F, F or M to Augmented Model (8), in said logic unit, updates of said model and calibration parameters, values of said external events and their accuracies corresponding to said new situation; f) controlling stability of said Kalman filtering by monitoring said accuracy estimates, in said logic unit, and by indicating when there is need for some of the following: more sensor output signal values, test point data, sensor comparison or system reconfiguration; g) adjusting those of said model and calibration parameter values for which stable updates are available. 2. The method for adjusting model and calibration parameters of a sensor system accompanied with said model of external events by adaptive Batman filtering, the sensor output units providing signals in response to said external events and where the number of simultaneously processed sensor output signal values are long, the method comprising the steps of: a) providing a data base unit for storing information on: - a plurality of test point sensor output signal values for some of said sensors and a plurality of values for said external events corresponding to said test point sensor output signal values, or simultaneous time series of said output signal values from adjacent sensors for comparison; - said sensor output signal values accompanied with values for said model and calibration parameters and values for said external events corresponding to a situation; and, - controls of said sensors and changes in said external events corresponding to a new situation; b) providing a logic unit for accessing said sensor signal output values with said model and calibration parameters, said logic unit having a two-way communications link to said data base unit, and computing initial values for unknown model and calibration parameters with accuracy estimates by using Lange's High-pass Filter as required; c) providing said sensor output signal values from said sensors, as available, to said logic unit; d) providing information on said controls and changes to said data base unit; e) accessing current values of said model and calibration parameters and elements of a state transition matrix, and computing by using the Fast Kalman Filter (FKF) formulas obtained from Frobenius' inversion formula (26): wherein the improvement comprises a diagonalization of the error covariance matrix to be obtained by applying factors Fy, Fs or M to Augmented Model (8), in said logic unit, updates of said model and calibration parameters, values of said external events and their accuracies corresponding to said new situation; f) controlling stability of said Kalman filtering by monitoring said accuracy estimates, in said logic unit, and by indicating when there is need for some of the following: more sensor output signal values, test point data, sensor comparison or system reconfiguration; g) adjusting those of said model and calibration parameter values for which stable updates are available.