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Fully automated vehicles and mobile robots operate in a shared environment with pedestrians. To minimize the risk for pedestrians, it is very important to track them in a precise way. As cameras are often installed in surveillance situations, they are used for tracking pedestrians in a shared environment. To improve the accuracy of the tracking, it is necessary to include all available context information...
In this paper localization using UWB positioning system and an inertial unit containing a single accelerometer is considered. The main part of the paper describes a novel algorithm for person localization. The algorithm is based on modified Extended Kalman Filter and utilizes TDOA (Time Difference of Arrival) results obtained from UWB system and results of acceleration measurement performed by the...
A new end-point-constrained spherical extended Kalman filter is presented for tracking near-radially inbound maneuvering targets. The performance of this new filter is compared to that of both Cartesian and spherical extended Kalman filters for a target that undergoes a set of 15 g maneuvers in all dimensions. Subsonic and supersonic maneuvering targets are considered with a low update period rotating...
This paper presents a method for the real-time determination of joint angles, velocities, accelerations and joint torques of a human. The proposed method is based on a constrained Extended Kalman Filter that combines stereophotogrammetric and dynamometric data. In addition to the joint variables, subject-specific segment lengths and inertial parameters are identified. Constraints are added to the...
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...
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...
As part of dead reckoning, inertial navigation has been developed for many years in locating the vehicle without GPS. We employ the technology on a quadrotor platform to track the trajectory of the vehicle. In this paper, a new method was designed to make the tracking result more precisely. To achieve this, we firstly smooth the sensor data by minus offset dynamically and adopt Kalman Filtering algorithm...
According to the nonlinear maneuvering characteristics of flying targets, unscented Kalman filter is used to achieve a two-dimensional trajectory tracking and predicting in the coordinates of camera view field. By calculating the target centroid position in the imaging focal plane, the third-order constant acceleration motion model of two-dimensional is established. Because of the nonlinear characteristics...
Underwater autonomous robots with 6 degrees of freedom (DOF), equipped with low cost aided inertial navigation systems, usually make use of Kalman Filters (KF) to fuse, in a single vector, the measurements given by multiple sensors. In this context, Multiplicative Error State Kalman Filters (MESKF) are preferable than standard KFs to increase the reliability of the vehicle motion estimates. This particular...
Because of the complementary nature of inertial measurement unit based pedestrian dead reckoning (PDR) and Wi-Fi positioning, the combination of both systems yields a synergetic effect resulting in higher navigation performance. Barometric sensors can provide height information for 2D/3D indoor navigation applications in multi-floor environments. In this paper, we explore the multi-sensor assisted...
This paper proposes an integrated terrain following algorithm for Unmanned Combat Aerial Vehicle (UCAV). Terrain following is very important for UCAV because UCAV should fly close to ground to avoid being detected by enemy's radar, which may improve the survivability of UCAV performing dangerous mission such as SEAD. In this study, input/output structure is defined for each algorithm for combining...
A new approach to video stabilization is proposed in this paper. Firstly, SURF (Speeded-Up Robust Features) is employed to extract feature points from input frames. Then, the local feature matching strategy is presented to speed up the global motion estimation procedure. Secondly, a weak Gaussian smoother is constructed to smooth the camera motion iteratively. In order to make the weak smoother adapt...
An approach to observer trajectory optimization for maneuvering target is proposed in this paper through minimizing the cost function based on Extended Kalman Filter (EKF) related with uncertainties of state estimate. Computer simulation results demonstrate that the significant improvement in accuracy can be further achieved through combining observer trajectory optimization with Interacting Multiple...
This paper focuses on development of behaviour recognition technique for airborne monitoring of ground traffic to detect hidden threats. To enhance tracking accuracy, sensor fusion and smoothing are applied with Kalman filter. To tackle behaviour recognition, trajectory approximation and classification methodology is proposed using differential geometric quantities and string matching. Simulation...
An autonomous underwater vehicle (AUV) can achieve precise observation in the sea. Also in Japan agency for Marine-earth Science and Technology (JAMSTEC) some observations with AUV ldquoURASHIMArdquo have been implemented mainly in deep ocean. Tracking or navigation of the AUV is significant to make the observations more valuable. Almost AUV equips an inertial navigation system (INS) to navigate own...
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