RHKF Filter / Smoother for Nonlinear Systems

• RHKF (Receding Horizon Kalman FIR) Filter : 유한개의 측정치만을 사용하여 필터링하는 FIR 필터

• MRHKF (Modified RHKF) Filter : RHKF Filter를 비선형 시스템에 적용할 수 있도록 수정된 FIR 필터

(1) Seong Yun Cho, and Hyung Keun Lee, “Modified RHKF Filter for Improved DR/GPS Navigation against Uncertain Model Dynamics,” ETRI Journal, Vol. 34, No. 3, pp. 379-387, June 2012. (SCI)

• SPRHKF (Sigma Point-based RHKF) Filter : EKF의 단점을 보완한 UKF와 MRHKF 필터를 결합

(2) Seong Yun Cho, and Wan Sik Choi, “Robust Positioning Technique in Low-Cost DR/GPS for Land Navigation,” IEEE Trans. on Instrumentation and Measurement, Vol. 55, No. 4, pp.1132-1142, Aug. 2006. (SCI)

• Adaptive IIR/FIR Fusion Filter : IIR 필터의 장점인 수렴 특성과 FIR 필터의 장점인 모델링 오차에 강건한 특성을 결합한 융합 필터

(3) Seong Yun Cho, and Byung Doo Kim, “Adaptive IIR/FIR Fusion Filter and Its Application to INS/GPS Integrated System,” Automatica, Vol . 44, No. 8, pp. 2040-2047, Aug. 2008. (SCI)

• Interactive Multiple Filter : 초기 방위각 오차에 강인한 특성을 갖도록 IMM 필터 기반으로 다중 초기화 FIR 필터를 융합

(4) Seong Yun Cho, “IM-filter for INS/GPS-integrated navigation system containing low-cost gyros,” IEEE Trans. Aerospace and Electronic Systems, Vol. 50, Issue 4, pp. 2619-2629, Oct. 2014 (SCI)

• Smoothing Filter : FIR 필터의 수렴특성에 한계를 갖는 단점을 보완하기 위해 시간지연 허용 시스템에 적용할 수 있는 Smoothing FIR 필터

(5) Seong Yun Cho, “Non-linear FIR smoothing filter for systems with a modelling error and its application to the DR/GPS integrated navigation,” IET – Radar, Sonar, and Navigation, vol. 12, no. 8, pp. 882-888, Aug. 2018 (SCI)