The damage detection method using the extended Kalman filter(EKF) technique has been continuously used since EKF can estimation the responses of the damaged building structure and the stiffness of the structure. However, in the use of EKF, the requirement of setting the initial paramters P, Q, and R has caused the divergence and instability of the state vector, and various researches have been conducted to determine theses parameters. In this paper, adaptive extended Kalman filter(AEKF) method is proposed to solve the problem of setting the values of P, Q, and R, which are important parameters determining the convergence performance of the EKF state vector. By using the AEKF method proposed in this study, the P, Q, and R parameters are updated every k steps. The proposed algorithm is applied for the estimation of stiffness and the damage detection of 3-DOF problem. Based of the verification, it can be found that the selection process for the values of P, Q, and R can improve the convergence performance of EKF.

Abstract
 1. 서 론
 2. EKF의 파라미터
  2.1 Extended Kalman filter
  2.2 Extended Kalman filter의 특성
 3. Adaptive Extended Kalman filter
 4. AEKF의 성능의 검증 및 비교
 5. 결 론
 References
 요 지

• 윤다요(연세대학교 건축공학과) | Da Yo Yun (Department of Architectural Engineering, Yonsei Univ)
• 김유석(홍익대학교 건축공학과) | Yousok Kim (Department of Architectural Engineering, Hongik University)
• 박효선(연세대학교 건축공학과) | Hyo Seon Park (Department of Architectural Engineering, Yonsei Univ) Corresponding author