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To meet the necessary of autonomous navigation, a novel attitude determination method by using an INS and a polarization sensor was proposed. The mathematical model of the polarization was analyzed. An explicit complementary filter (ECF) was designed to make a good use of the polarization sensor and the INS. To examine the validity of the designed integrated navigation system, the designed system...
This paper considers the distributed containment problem for multiple Euler-Lagrange systems with multiple dynamic leaders in the presence of unknown uncertainties and external disturbances under a directed topology graph. First, we propose a finite-time sliding-mode estimator to obtain accurate estimation of the weighted average of the accelerations, velocities, and positions of the leaders, where...
This paper proposed a self-calibration algorithm for triaxial accelerometer. By analyzing the measurement error factors, the parametric model of accelerometer output was built. According to the principle that the modulus value of gravity vector at a fixed point is constant, the nonlinear state space model of calibration parameters was derived. Further, the iterated extended kalman filter was proposed...
We use the convergence points estimated by our proposed method as elite individuals for evolutionary computation and evaluate the acceleration effect and analyze the effect and computational cost. The worst individuals in population are replaced with the convergence points estimated from the moving vectors between parent individuals and their offspring; i.e. these convergence points are used as elite...
This paper describes methods for velocity determination in high dynamic flight using a stand-alone single-frequency GPS receiver. The work is of interest, and the proposed scheme is valuable for practice. Simulations are developed with a GPS signal simulator and a GPS receiver,where the aircraft velocity is up to 7000 m/s, and the acceleration is up to 7 g (9.8m/s2). The performance of the receiver...
Particle filters (PFs) are Bayesian based estimationalgorithms with attractive theoretical properties for addressingwide range of complex applications that are nonlinear and nonGaussian. However, they are associated with a huge computational demand which limited their application in most realtime systems. To address such a drawback in PFs, this paperpresents different approaches for PFs acceleration...
In this paper, a novel approach to estimate a vehicle attitude using gyroscopes and an array of linear tri-axial accelerometers arranged in a certain configuration is presented. This configuration provides direct angular acceleration measurements that will be of great value once the quaternion dynamical equation is solved using Unscented Kalman filter. Various new states and measurements models based...
This paper proposes a parameter estimator for four-wheel-independently driven electric (4 WID) vehicle with in-wheel motors. The mass and location of payload have great impacts on the stability and maneuverability of lightweight vehicles (LWVs). Fast, effective and real-time parameter estimator can make the existing controller adjust the changed parameter caused by additional payload. The proposed...
Target tracking is an essential part in automotive driver assistance systems. Most maneuvering target tracking algorithms are based on model, and an accurate model can enhance the tracking performance. Compared with constant velocity (CV) model, constant acceleration (CA) model and Singer model, the current statistical (CS) model matches well with the actual motion of target vehicle. But when a target...
For more accurate estimation of urban traffic emissions, it is necessary to study the emission estimates under different traffic conditions. In this paper, a novel emission estimation method on the basis of levels-of-service (LOS) is presented to estimate city emissions under different traffic conditions. The primary contributions of our work are a novel set of velocity-acceleration features to distinguish...
In this report, we discuss about a data mining method for multi-modal in-vehicle sensor signals. Though several methods were previously proposed for symbolization of the multi-modal in-vehicle signals, the effectiveness of such method were not discussed in detail. We adopt the Bag-of-System (BoS) technique, a variation of the Bag-of-Features for sensor signals used in motion analysis, and evaluate...
This paper addresses the problem of autonomous navigation of a quadrotor helicopter using state estimators when the GPS signal is not available. The main objective is to estimate the translational position and velocity of the flying machine. The observer proposed uses a double integral approximation of the acceleration defined in the mathematical model in order to estimate the states previously mentioned...
Although the acceleration is physically related to the displacement of an object, i.e., to its change of position, it is demonstrated that the double integration of the acceleration does not provide accurate information about the displacement, due to the noise and measurement errors. This paper evaluates a correction technique based on the Kalman filter in order to increase the accuracy of the estimation...
Finding out remained time to voltage instability occurrence is necessary to make a timely decision on corrective actions. This paper presents a novel method for discovering time to long term voltage instability. The method is based on virtually acceleration of OLTCs' operation during time domain simulation in order to realizing detection of long voltage instability and predicting time to the voltage...
A novel walking distance estimation algorithm using the inertial sensors of the smart-watch is proposed. Firstly, the peaks of the norm of the accelerometer and gyroscope signals are detected. Due to arm swing, walking step detection using these peaks are not reliable. A Kalman filter is used to combine with the peak detection algorithm applied on the accelerometer and gyroscope norm peaks and robustly...
Wrist type photoplethysmographic (PPG) signals are vulnerable to motion artifacts (MA), which affects the heart rate (HR) estimation. In this work, we have proposed an efficient method to estimate and track HR using PPG signals and simultaneous acceleration signals. In our method, an MA signal is generated by choosing one of the three axis acceleration signals based on their highest bandpower. An...
The paper is focused on estimation of orientation and angular rate of quadrotor Unmanned Aerial Vehicle (UAV). The data from the triaxial accelerometer, the triaxial gyroscope and the magnetometer are used as measurements. The impact of additional, more precise, but short-range, accelerometer is discussed. For estimation the Unscented Kalman filter (UKF) is used with nonlinear discrete model of quadrotor...
This paper presents a rapid method for predicting the best type of Sample Adaptive Offset (SAO) in the HEVC video encoder. The main idea of this work is to utilize the available motion vector and frame characteristics, and to reuse the information given by the reference picture and the neighboring blocks to accelerate the SAO decision while keeping good coding efficiency.
Pedestrian dead reckoning uses inertial sensors carried by pedestrians to track their positions, wherein step detection and step length estimation play the key roles. Compared with pioneer researches using body-mounted sensors, smartphone-based dead reckoning has more flexibility but raises more challenges. To reduce the negative influence of sensor noise and varying walking speed, the paper proposes...
Engine control applications include computational activities that adapt their behavior as a function of the engine speed, referred to as adaptive variable-rate (AVR) tasks. Although a substantial amount of work has been done to analyze the timing behavior of real-time applications with AVR tasks, most of the authors assumed the knowledge of the instantaneous engine speed at any instant. In practice,...
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