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Aiming at the improvement the low accuracy of conventional Kalman filter, this paper puts forwards a modified Kalman filter to construct a nonlinear regression model based on M estimation, adopts Unscented Kalman Filter (UKF) filtering, and then applies this algorithm to research of dual mode navigation. Experimental results show that the algorithm can improve the navigation accuracy compared with...
The problem of modeling of the integrated system of monitoring of the sea water area ensuring safety of navigation is considered. The model of monitoring system is developed as the design automation system and efficiency estimation system of hydroacoustic means of underwater observation and also as the decision-making support system of controlling the observation means.
Simultaneous Localisation and Mapping (SLAM) systems that recover the trajectory of a robot or mobile device are characterised by a front-end and back-end. The front-end uses sensor observations to identify loop closures; the back-end optimises the estimated trajectory to be consistent with these closures. The GraphSLAM framework formulates the back-end problem as a graph-based optimisation on a pose...
This paper proposes a fast algorithm for additive white Gaussian noise level estimation from still digital images. The proposed algorithm uses a Laplacian operator to suppress the underlying image signal. In addition, the algorithm performs a non-overlapping block segmentation of images in conjunction with the local averaging to obtain the local noise level estimates. These local noise level estimates...
Actor-Critic algorithms have been increasingly researched for tackling challenging reinforcement learning problems. These algorithms are usually composed of two distinct learning processes, namely actor (a.k.a, policy) learning and critic (a.k.a, value function) learning. Actor learning is heavily dependent on critic learning; particularly unreliable critic learning due to its divergence can significantly...
The purpose of this research is to study the symplecticity and reversibility of Hamiltonian systems simulated with adaptive step control algorithms. We consider several composition ODE solvers of different accuracy order using H. Yoshida composition formulas and semi-implicit basic methods. The comparison of three adaptive step control algorithms with different local truncation error estimation techniques...
State estimation for systems with unknown state transfer matrix and multiplicative noise is very classical and important in signal processing and target tracking. Aiming at the problem, an adaptive estimation algorithm which can deal with unknown state transfer matrix and multiplicative noise has been presented by Dongsheng Chu for linear systems under without considering multiplicative noise in [1]...
Super-resolution reconstruction algorithms have been extensively studied for the last years. However, despite the progress made in this field, many issues remain to be solved. Some of them are basically omitted and their importance is trivialized. Routinely, for instance, researchers are willing to make the relative motion model simpler than it should be considered. The commonly applied non-rigid...
We consider distributed filtering of a scalar linear stochastic process under communication corrupted by Gaussian noise. We investigate how communication noise degrades the performance of an existing distributed algorithm and develop a novel algorithm that mitigates these problems. We rigorously investigate the properties of the new distributed estimator and discuss optimal tuning of (fixed) gains...
Electrical harmonic is an important issue affecting power quality of electrical systems. Estimation of power harmonics are essential to design filters to be utilized in electrical power systems for reducing harmonics and their effects on the electrical power systems. In this study, a harmonic estimator based on differential evolution algorithm is proposed for harmonic estimation problems shown in...
Consistently, the classical image enlargement algorithm is a scientific analytical method for producing a better refined resolution image that is frequently required for advanced digital image processing (DIP) from a single lower resolution image that is frequently acquired from digital camera embedded system. Because of its less computation calculation, the Single-Image Super-Resolution (SISR) that...
In this paper we propose a novel mission control strategy for a group of agents to locate an unknown source, represented as maximum of a scalar field, and to track a specified level curve. We propose a distributed control scheme based on hierarchy formation and reduced topology. Without prior knowledge of the field, the agents, equipped with local sensors, navigate in ℝp using an estimated gradient...
This paper develops a model-based algorithm for combined state and disturbance estimation in a lithium-ion battery cell. The “disturbance”, in this context, is the external current applied to the cell. The algorithm estimates this current based solely on terminal voltage measurement, which is valuable for applications where current sensors are too costly. Furthermore, the paper presents a theoretical...
This paper addresses distributed average tracking for a group of heterogeneous physical agents consisting of single-integrator, double-integrator and Euler-Lagrange dynamics. Here, the goal is that each agent uses local information and local interaction to calculate the average of individual time-varying reference inputs, one per agent. Two nonsmooth algorithms are proposed to achieve the distributed...
Marine researchers need consistent historical and georeferenced data from the marine environment in order to constantly monitor the biological condition of the habitat or to document delicate archeological sites. To overcome the difficulties related to the acquisition of high quantity of worthy data and to the accurate estimation of the position, the development of easy-to-use IT tools could certainly...
Nonline-of-sight (NLOS) error, which is the key factor of effect positioning accuracy, coupled with the presence of noise deviation of the environment itself, results in great location deviation. A joint algorithm of GA and iterative LS algorithm is proposed in this paper. The GA is used to get a relatively accurate initial value. And then the iterative LS algorithm is used to update the position...
This paper proposes a novel algorithm for estimating underdetermined mixing matrix in Wireless Statistic Division Multiplexing (WSDM) system based on the first-order statistics. Firstly, we extend Xu's algorithm to the underdetermined case to estimate the mixing matrix. However, the extended Xu's algorithm employs the conditional expectations which only consider the condition of single source. In...
This paper proposes a method for speeding up the estimation of the absolute value of largest eigenvalue of an asymmetric tridiagonal matrix based on Power method. An error analysis shows that the proposed method provide errors no greater than the usual Power method. The proposed method involves the computation of the tridiagonal matrix square under analysis, which is performed through a proposed fast...
In this paper, we address the direction-of-arrival (DOA) estimation problem of hybrid completely polarized (CP) and partially polarized (PP) source signals with arbitrary polarimetric arrays. Firstly, oblique projection filtering operators, which are insensitive to the state of polarization of signals, are used to separate potential source signals in the spatial domain. Secondly, the DOA estimates...
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