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i hope it is the final

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1 parent e4c2105 commit 5c20c24dea647989eb88bb9a45b644fecf264435 @metaxy committed Mar 26, 2012
Showing with 180 additions and 14 deletions.
  1. +127 −7 presentation/bib.bib
  2. +53 −7 presentation/pre.tex
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@@ -48,15 +48,135 @@ @techreport{Voldman07
}
@article{Perlmutter93,
- author = "Perimutter
-, Michael S.",
- institution = "Northrop Corporation
-",
- journal = " Fiber Optic and Laser Sensors Xl ",
+ author = "Perimutter, Michael S.",
+ institution = "Northrop Corporation",
+ journal = "Fiber Optic and Laser Sensors Xl",
number = "192",
- title = "{A Tactical Fiber Optic Gyro With All-Digital Signal Processing
-}",
+ title = "{A Tactical Fiber Optic Gyro With All-Digital Signal Processing }",
volume = "2070",
year = "1993"
}
+@article{Ribeiro2004,
+ author = "Ribeiro, Maria Isabell",
+ title = "{Kalman and Extended Kalman Filters: Concept, Derivation and Properties}",
+ year = "2004"
+}
+
+@article{DeSchutter99,
+ author = "Schutter, Joris De and Geeter, Jan De and Lefebvre, Tine and Bruyninckx, Herman",
+ title = "{Kalman Filters: A Tutorial}",
+ year = "1999"
+}
+
+@article{Winkler04,
+ author = "Winkler, Patrick",
+ title = "{Der diskrete Kalman Filter}",
+ year = "2004"
+}
+
+@article{Welch01,
+ author = "Welch, Greg and Bishop, Gary",
+ title = "{An Introduction to the Kalman Filter}",
+ year = "2001"
+}
+
+@article{Doug07,
+ author = "Nychka, Doug",
+ title = "{A Kalman Filter tutorial}",
+ year = "2007"
+}
+
+@article{Stoytchev07,
+ author = "Stoytchev, Alexander",
+ title = "{The Kalman Filter}",
+ year = "2007"
+}
+
+@article{Walchko02,
+ author = "Walchko, Kevin J. and Maso, Dr. Paul A. C.",
+ title = "{Inertial Navigation}",
+ year = "2002"
+}
+
+@article{Fletcher10,
+ author = "Fletcher, Tristan",
+ title = "{The Kalman Filter Explained}",
+ year = "2010"
+}
+
+@article{ wiki-kal,
+author = "Wikipedia",
+title = "{Kalman filter - Wikipedia the free encyclopedia}",
+year = "2012",
+howpublished = "\url{http://en.wikipedia.org/wiki/Kalman_filter}",
+note = "[Online; accessed 26-March-2012]"
+}
+@article{ wiki-kal2,
+author = "Wikipedia",
+title = "{Kalman-Filter --- Wikipedia die freie Enzyklopädie}",
+year = "2012",
+howpublished = "\url{http://de.wikipedia.org/wiki/Kalman-Filter}",
+note = "[Online; accessed 26-March-2012]"
+}
+@article{ wiki-tr,
+author = "Wikipedia",
+title = "{Plagiat --- Wikipedia die freie Enzyklopädie}",
+year = "2012",
+howpublished = "\url{http://de.wikipedia.org/wiki/Tr%C3%A4gheitsnavigationssystem}",
+note = "[Online; accessed 26-March-2012]"
+}
+@article{ wiki-inert,
+author = "Wikipedia",
+title = "{Inertial navigation system --- Wikipedia the free encyclopedia}",
+year = "2012",
+howpublished = "\url{http://en.wikipedia.org/wiki/Inertial_navigation_system}",
+note = "[Online; accessed 26-March-2012]"
+}
+@article{ Czerniak12,
+author = "Greg Czerniak",
+title = "Kalman Filters for Undergrads Part I: Linear Kalman Filters",
+year = "2012",
+howpublished = "\url{http://greg.czerniak.info/node/5}",
+note = "[Online; accessed 26-March-2012]"
+}
+
+@article{ Muk12,
+author = "Prof.S. Mukhopadhyay",
+title = "Lec-18 Kalman Filter-Model and Derivation ",
+year = "2012",
+howpublished = "\url{http://www.youtube.com/watch?v=17qEwiqY9Xc}",
+note = "[Online; accessed 26-March-2012]"
+}
+
+@article{ TS12,
+author = "TheScienceguy3000",
+title = "Tutorial: Kalman Filter with MATLAB example part1 ",
+year = "2012",
+howpublished = "\url{http://www.youtube.com/watch?v=FkCT_LV9Syk}",
+note = "[Online; accessed 26-March-2012]"
+}
+
+@article{ Esme12,
+author = "Bilgin Esme",
+title = "Kalman Filter For Dummies",
+year = "2009",
+howpublished = "\url{http://bilgin.esme.org/BitsBytes/KalmanFilterforDummies.aspx}",
+note = "[Online; accessed 26-March-2012]"
+}
+
+@article{ U12,
+author = "Unkown",
+title = "Das diskrete Kalmanfilter",
+year = "2012",
+howpublished = "\url{http://www.mi.hs-rm.de/~schwan/Projects/CG/P4/Dokumentation/node16.html}",
+note = "[Online; accessed 26-March-2012]"
+}
+
+@article{ Simon12,
+author = "Dan Simon",
+title = "Kalman Filtering",
+year = "2001",
+howpublished = "\url{http://academic.csuohio.edu/simond/courses/eec644/kalman.pdf}",
+note = "[Online; accessed 26-March-2012]"
+}
View
@@ -14,15 +14,15 @@
\usepackage{verbatim}
\usepackage{subfigure}
-\title{Inertialnavigation von autonomen Flugkörpern}
+\title{Inertialnavigation bei autonomen Flugkörpern}
\author{
Fabian Ulbricht \and
Paul Walger
}
+\date[27.03.12]{27.März 2012}
\begin{document}
-%% Start
\frame{
\titlepage
}
@@ -104,9 +104,6 @@
\end{itemize}
\end{frame}
-
-
-
\begin{frame}
\frametitle{Kapazität}
Die Kapazität von 2 parallen Platten ist \cite{AM08}
@@ -308,15 +305,64 @@
\end{frame}
-\begin{frame}
+\begin{frame}[allowframebreaks]
\section{Literatur}
\frametitle{Literatur}
-\printbibliography
+ \printbibliography
\end{frame}
\begin{frame}
\frametitle{Stable Platform Systems}\cite{King98}
\includegraphics[scale=0.55]{images/gimbal.png}
\end{frame}
+\begin{frame}
+ \begin{equation}
+ \textbf{X}_{k} = \textbf{F}_{k-1} \textbf{X}_{k-1} + \textbf{B}_{k-1} \textbf{u}_{k-1} + \textbf{w}_{k-1}
+ \end{equation}
+ \begin{equation}
+ \textbf{Z}_{k} = \textbf{H}_{k} \textbf{X}_{k} + \textbf{v}_{k}
+ \end{equation}
+ \begin{equation}
+ \textbf{v}_{k} \sim \mathcal{WN}(\textbf{0}, \textbf{R}_{k})
+ \end{equation}
+ \begin{equation}
+ \hat{\textbf{X}}_{k} \sim \mathcal N (\hat{\textbf{x}}_{k}, \hat{\textbf{P}}_{k})
+ \end{equation}
+ \end{frame}
+\begin{frame}
+ \begin{equation}
+ \hat{\textbf{x}}_{k|k-1} = \textbf{F}_{k-1}\hat{\textbf{x}}_{k-1} + \textbf{B}_{k-1}\textbf{u}_{k-1}
+ \end{equation}
+ \begin{equation}
+ \hat{\textbf{P}}_{k|k-1} = \textbf{F}_{k-1} \hat{\textbf{P}}_{k-1} \textbf{F}_{k-1}^{\text{T}} + \textbf{Q}_{k-1}
+ \end{equation}
+ \begin{equation}
+ \hat{\textbf{x}}_{k} = \hat{\textbf{x}}_{k|k-1} + \hat{\textbf{K}}_k\tilde{\textbf{y}}_k
+ \end{equation}
+ \begin{equation}
+ \hat{\textbf{P}}_{k} = \hat{\textbf{P}}_{k|k-1} - \hat{\textbf{K}}_k \textbf{S}_k \hat{\textbf{K}}_k^\text{T}
+ \end{equation}
+ \begin{equation}
+ \tilde{\textbf{y}}_k = \textbf{z}_k - \textbf{H}_k\hat{\textbf{x}}_{k|k-1}
+ \end{equation}
+ \begin{equation}
+ \textbf{S}_k = \textbf{H}_k \hat{\textbf{P}}_{k|k-1} \textbf{H}_k^\text{T} + \textbf{R}_k
+ \end{equation}
+ \begin{equation}
+ \hat{\textbf{K}}_k = \hat{\textbf{P}}_{k|k-1}\textbf{H}_k^\text{T}\textbf{S}_k^{-1}
+ \end{equation}
+ \cite{Ribeiro2004}
+ \cite{DeSchutter99}
+ \cite{Winkler04}
+ \cite{Welch01}
+ \cite{Doug07}
+ \cite{Stoytchev07}
+ \cite{Walchko02}
+ \cite{Fletcher10}
+ \cite{AM08}
+ \cite{wiki-kal} \cite{wiki-kal2} \cite{wiki-inert} \cite{Czerniak12} \cite{Muk12} \cite{TS12} \cite{Esme12} \cite{U12} \cite{Simon12}
+
+\end{frame}
+
\end{document}

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