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This letter presents a ${H} _{\infty }$ criterion-based recursive filter of nonlinear systems with nonlinear dynamics and measurement. The filter is based on the deterministic-statistical approach to estimation. The solution is based on three components: 1) the mean square error criterion; 2) the state dependent coefficients form; and 3) calculus of variations. The computation of the estimator’s...
This paper presents a kind of self-tuning filter in the colored noise environment when the noise variance is unknown. The main method of this filter is whitening the colored noise, and the correlation function is used to get the estimations of the variance of the noise. An example for the target tracking system is presented to design the self-tuning filter for the position and velocity, the simulating...
In real world multiple extended target tracking problems, the presence of merged measurements is a frequently occurring phenomenon, however, most existing tracking algorithms in the literature assume that each target generates independent measurements. When this measurement merging phenomenon occurs, it increases the computational complexity of the tracking algorithms. Recently, the conditional joint...
This paper proposes a phase correction strategy for the zero sequence back EMF based sensorless drive under current regulation control (viz., I/f control). The straightforward phase correction process based on the nearest principle might lead to false correction under different load conditions. The proposed strategy can achieve robust phase correction by injecting transitory high frequency (HF) signal...
The so-called asymptotic theory of Ljung (1985) gives an error description of identified black-box model in the frequency domain. Based on the theory the asymptotic method of identification has been developed and applied successively in industrial MPC control and PID tuning. In this work, new results that extend the asymptotic theory and method will be presented: (1) an asymptotically globally convergent...
Although the Extended Kalman Filter (EKF) achieves satisfactory estimations in general, inconsistencies can appear when the filter is used in adverse conditions. After explaining theoretically why such inconsistencies appear, three filters are presented: the Schmidt-Kalman Filter (SKF), the Observability-Constrained EKF (OCEKF) and the Invariant Filter (IF). These techniques, designed to preserve...
General conditions for applying Nyquist-Shannon-Kotelnikov sampling theorem are considered. Fundamental requirements necessary to create real-time systems are presented. Conditions of the theorem which are not fulfilled in practice in real-time systems are analysed. Alternative for determination of errors work discreetly-continuous channel is considered.
Filtering strategies play an important role in estimation theory, and are used to extract knowledge of the true states typically from noisy measurements or observations made of the system. This paper describes a novel approach that combines the information given by an odometer and a laser range finder sensors to efficiently solve the Simultaneous Localization and Mapping (SLAM) problem of the Unmanned...
In this paper, qualification of the p-cascade tuned filter capacity estimation is presented for radio communication systems using multiposition phase-shift keyed signals with n-discrete states. It is shown that the capacity will be limited to the resolution time of linear systems that are present in the RCS linear radio-frequency section and that are an integral part of channel. The method of estimating...
The objective of multi-target joint detection, tracking and classification (JDTC) is to simultaneously estimate the number of targets, their kinematic states, and decide on the class labels with varying target number and observation uncertainly. Good solutions require solving these problems jointly. Recently, the conditional joint decision and estimation (CJDE) algorithm based on the generalized Bayes...
We propose a particle implementation for the multi-group multi-target probability hypothesis density (MGMT-PHD) filter in this paper. It provides estimates of motion state of multi-group target centers as well as its components. The algorithm models multi-group centers as parent process, components as daughter processes related to centers. With separation of the two interacting point processes, the...
In this paper, an adaptive multi-channel energy detector is presented for spectrum sensing applications. This method exploits the Empirical Mode Decomposition (EMD) and Cell-Averaging Constant False Alarm Rate (CA-CFAR) in an effort to maximize the probability of detection for a given probability of false alarm. First, the oversampled baseband signal is compared to its corresponding EMD noise-only...
In this paper, we propose an adaptive scheme to design directional second order derivatives orthogonally and tangentially to the local edge. The principle lies on the definition of two adaptive filter masks which estimate the two derivatives along the normal (n) and tangential (t) directions. Both filter masks are controlled by an adaptive mask whose coefficients are tuned in accordance with the local...
The performance of the linear optimal filter (LOF) is compared to the newly reported Wiener filter for signal detection in ATLAS liquid ionization calorimeters. The equivalence between the two methods is established, and further related to the conventional notion of (whitening + matched) filter configuration for optimal signal detection in presence of colored noise. Without arrival time spread, the...
The technique of 3D scene reconstruction from 2D scene image can satisfy the demands of 3D display market, and it is the main research contents in the field of image processing. For the 3D reconstruction, the extraction of depth cues is one of the most important contents. Therefore, we proposed a least-square depth estimation method based on multi-scale texture features, which can better describe...
We evaluate 3 methods for CD estimation using CMA filter tap coefficients. The performance of these methods are evaluated with respect to their accuracy and range. We also experimentally evaluate the CD estimation performance in presence of higher order PMD.
The Doppler frequency shift can make a mismatch in frequency band between the linear frequency modulation (LFM) signal and its matched filter. The amplitude and delay of the output pulse are based on the degree of the mismatch. An algorithm of Doppler frequency estimation is proposed basing on the amplitude of the output pulse. The algorithm sets a group of matched filters whose middle frequencies...
This paper is concerned with the problem of distributed multi-objective filters (DMFs) design for a class of linear time-invariant (LTI) continuous-time systems with sensor networks (SNs). According to the topology of the SN, a set of distributed filters are given as Luenberger-like with consensus terms in order to estimate the state in a fully distributed manner. Then, a less conservative sufficient...
Based on the filtering theory, we present a filtering based recursive least squares algorithm for a class of Wiener nonlinear systems. The basic idea is to use an estimated noise transfer function to filter the input-ouput data, to obtain two identification models containing the parameters of the system model and the noise model, respectively, and to present the filtering based recursive least squares...
The handling of twist-locks has been a heavy burden for the container industry. To address this challenge, we are developing a customized mobile manipulator for handling the twist-locks. In this paper, we propose a fast normal computation algorithm for depth image, which is able to use normal deviation along eight directions to extract key points for segmenting points into objects on manipulation...
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