Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
Kalman Filters are utilised for filtering and estimation in a large set of application. Here, this methodology is utilised for trajectory estimation of an underwater robot. In this work, three Kalman Filter methods are proposed for trajectory estimation. There are: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Central Difference Kalman Filter (CDKF). Simulation results are presented...
One of the algorithms implemented in Radar system is Kalman filter. Kalman filter is one of a method to estimate a problem in dynamic systems and model measurement. Kalman filter has the ability to estimate certain condition either in the past, current, future time, or characteristic of the model unknown. The Purpose of this paper is to design ships tracking system using Kalman filter algorithm. According...
This paper deals with the scenario of two multi-UAV systems (so-called teams), each flying from a starting point to a target point. The teams meet on their ways and have to avoid collisions in the horizontal plane. Both teams work independent of each other but use the same formation-control and obstacle-collision-avoidance algorithm. The leaders measure obstacles' positions, use a Kalman Filter to...
In this article, an approach for multi-vehicles localization and guiding is described and demonstrated with experiments in real conditions. The general methodology of the presented work is based on a top down approach implemented in each vehicle of the fleet and having a map of the environment to estimate the absolute localization of each vehicle. The principle is to select, at each time, the best...
The paper addresses a problem of ballistic object trajectory estimation on the basis of measurements from a cinetheodolite electro-optical tracking system. The object flight dynamics is modeled using a three degrees of freedom equations of motion. The estimation of object trajectory is performed with the use of an Extended Kalman Filter.
The highly limited number of observation results in the increase of the prediction errors. In such case the linear Kalman filter (KF) will work within the unsteady state, which can lead to unpredictable results. The paper presents an alternative, simplified methods for the tracked object position prediction with the linearization of the trajectory. The obtained results are compared with the KF predictions...
Precise positioning of AUV plays an important role in the efficient and reliable underwater operation. The extended Kalman filter (EKF) is the most commonly used method, because this algorithm is easy to implement. However, EKF is only effective for nonlinear systems with approximate linearity, then truncation error is introduced. When the initial state error is large or the system model has high...
One factor of human sperm health is sperm motility. Motility is the ability of sperm to move. Sperm with healthy motility move forward promptly, not inactive and not moving in circles. In this paper, we would like to analyse sperm motility by considering the problem of multi object tracking in video sequences of human sperms. The challenges in multi-sperm tracking are many human sperms have fast and...
Global Navigation Satellite Systems (GNSS) have become an integral part of all applications where mobility plays an important role. However, The performances of GNSS-based positioning systems can be affected in constrained environments (urban and indoor environments), due to masking of satellites by buildings and multipath effects. In this paper, a comparative investigation on classical GNSS localization...
The main purpose of power swing blocking is to distinguish faults from power swings. However, faults occurred during a power swing should still be detected and cleared promptly. This paper proposes an index based on detecting abrupt jump of impedance trajectory by utilization of predicting capability of Kalman Filter. The proposed index is calculated by assessing the difference between predicted and...
We propose a novel progressive Gaussian filter for nonlinear stochastic systems. A Gaussian approximation of the posterior is computed without an explicit assumption of a linear relation between the system state and the measurement. This allows for better quality of the estimation compared to Kalman filters for nonlinear problems like the EKF or UKF. In this work, we use the progressive filter framework,...
This paper presents a novel BOTMA based upon two types of bearing measurements: the angles of arrival of electromagnetic waves and the angles of arrival of acoustic waves. The difference of the propagation delays makes the problem observable even when the observer is motionless or non-maneuvering. We construct a recursive estimator (using the extended Kalman filter) and a batch estimator (the maximum...
In this paper, in order to estimate the operational parameters of synchronous generator model suitable for unbalanced conditions, an approach which uses Trajectory Sensitivity Functions (TSF) and is based on Unscented Kalman Filter (UKF) is developed. In this framework, iniatilly, TSF are used to identify the parameters which most affect the behavior of the system. After the ordination of the parameters...
In video surveillance to count the number of people walking through a corridor or door people counting is used. Counting persons passing through supervised area is important issue of this domain. System of people counting is important for security application (such as in the situation of an evacuation, it is vital to know how many people are present inside the surveillance area at any given time),...
This paper presents a method for estimating the distance between multiple IMU sensors in wearable devices applications. The procedure calibrates both differential orientation and differential position between two sensors frames, thereby enabling computation of the distance between wearable devices. As a result, the length of a rigid body can be determined for the application scenario when sensors...
This paper presents improved position tracking and location estimation of dead reckoning, by combining the data from multiple inaccurate inertial sensors together using unscented Kalman filtering (UKF). Experimental test results using two 9-axis inertial measurement unit (IMU) sensors show that position estimation of each sensor achieves a 26 % decrease in max error (ME) and a 37% improvement in root-mean-square...
Prediction of degradation paths is important to condition-based maintenance (CBM). To address the detection of the existence of a sudden change point in a degradation path, a piecewise model based on Wiener process with a linear drift is proposed. Two different degradation drifts are introduced in the model as hidden states. Based on the Bayesian theorem, the likelihood function is given and the algorithm...
It is very important to carry out a fast estimation method for long data chain due to the online purpose or the requirement of low compute cost. This paper combines the motion characteristics with the Kalman estimate algorithm to achieve this goal. Measurements are determined according the accelerations of the moving objects so that fulfil the estimation by an irregularly sampling concept. Thus the...
The rigorous development in the field of highly manoeuvrable threats gives a huge platform to find the efficient integrated estimation and guidance algorithms. In the present day technology, various kinds of threats are getting advanced day by day. For example ballistic missiles with time varying parameters or low flying cruise missile. Successful intercepting these kinds of highly manoeuvrable targets...
Handheld camera such as a mobile phone, action camera, and portable camcorder suffer from video instability due to unintentional shakes. This paper presents a video stabilization approach to enhance a shaky video acquired by consumer handheld camera. The proposed algorithm consists of three steps: i) generation of the binary image based on vertical class, ii) estimation of homography, and iii) frame...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.