The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Extended Kalman filter (EKF) is a typical method for state-of-charge (SOC) estimation of lithium batteries. An equivalent circuit model for the lithium battery is established, and model parameters are identified by experimental methods. Based on the battery model and model parameters, an EKF is proposed for SOC estimation. Analysis is conducted on the effect of the model coefficients of EKF to the...
The paper proposed filtering algorithms for wireless indoor localization based on Extended Kalman filtering (EKF) and Uncented Kalman filtering (UKF). When we use EKF linearization to deal with nonlinear problems, it may cause precision decrease and a series of problems. Thus, the rigorous mathematical analysis simulations and comparative results were carried out in this paper to compare EKF and UKF...
In this paper, velocity estimation method for caster odometers is proposed. Caster odometer is a sensor of travel distance and attitude angle using caster mechanism that has two-degree of rotational freedoms. We calculate velocities of a vehicle utilizing the output measured by caster odometers, however, the caster mechanism has nonlinearity component. To deal with the nonlinearity of the caster mechanism,...
To enhance the productivity and quality, high speed and high precision industrial robots are required. In the highspeed motion, the dynamic torque of industrial robot prevents the precise operation. To achieve high speed and high precision operation, the dynamic torque calculation is often used to compensate the dynamic torque. Although, it is difficult to calculate the accurate dynamic torque because...
The Kalman filter is a recursive estimator for a linear dynamic system with uncorrelated white process and measurement noises. In this paper, we consider the problem of unbiased minimum-variance functional estimation for linear discrete-time stochastic systems. The proposed method is based on multirate sampling of plant output. The necessary and sufficient conditions for the existence of the functional...
In recent years emergence of many intelligent autonomous systems are possible due to the tremendous advancement of various technologies like computer vision and automation and control engineering with sensor technology. One such intelligent system is autonomous underwater vehicle (AUV) for ocean floor mapping by SONAR technology. Success of this autonomous smart and precise intelligent system depends...
We demonstrate sequential mass inference of a suspended bag of milk powder from simulated measurements of the vertical force component at the pivot while the bag is being filled. We compare the predictions of various sequential inference methods both with and without a physics model to capture the system dynamics. We find that non-augmented and augmented-state unscented Kalman filters (UKFs) in conjunction...
Smart grid synchronization is an important concern due to the increasing deployment of Distributed Power Generation Systems. Nonlinear estimation techniques based on synchronization algorithm are proposed to track both of the voltage magnitude and phase angle of utility network. Instead of directly analyzing in natural abc coordinate frame, by resorting to symmetrical component transformation, the...
The targets parameter to be measured for tracking are its relative position in range, azimuth angle, elevation angle and velocity. These parameters can be measured by tracking radar systems. Upon keeping the tracking of these measured parameters the tracker predict their future values. Fire control and missile guidance can be assisted through target tracking only. In fact missile guidance cannot be...
Demand response can provide services to the power network, however, coordination of spatially distributed demand response resources generally requires coping with imperfect communication networks. This work investigates methods to manage communication constraints (e.g., Delays and bandwidth limitations), faced by demand response aggregators who manipulate the on/off modes of residential thermostatically...
For the multisensor time-invariant uncertain system with uncertainties of both parameters and noise variances, by introducing a fictitious white noise to compensate the uncertain parameters, the uncertain system can be converted into the system with known parameters and uncertain noise variances. Using the minimax robust estimation principle, and weighted least squares method, a robust weighted measurement...
For the linear discrete time multisensor system with uncertain model parameters and noise variances, the centralized fusion robust steady-state Kalman filter is presented by a new approach of compensating the parameter uncertainties by a fictitious noise. Based on the minimax robust estimation principle, a robust centralized fusion Kalman filter is presented based on the worst-case conservative systems...
For the multisensor linear stochastic descriptor system with same measurement matrix and correlated noises, the weighted measurement fusion information filter is presented, based on the weighted measurement fusion algorithm and the Kalman information filtering theory. This information filtering is a new repression of Kalman filtering based on information matrix, which can reduce computational burden...
The parameters plays an important role to the performance of support vector regression(SVR). In order to solve the problem of the Parameter optimization for SVR, first, we transform the problem of Parameter optimization into a problem of nonlinear system state estimation, then, we propose a novel algorithm based on Dual Recursive Variational Bayesian Adaptive Square-Cubature Kalman Filter (DRVB-ASCKF),...
An Extended Kaiman filter(EKF) based speed and position observer for a PMSM in low and medium speeds is presented in this paper. The estimator is used to control an IPMSM of 1.5 kW, 3000 rpm rating. EKF algorithm is implemented in the stationary αβ reference frame model for PMSM. Design considerations for the Extended Kaiman Filter are presented, followed by simulation and experimental results for...
In strap down inertial navigation system (SINS), an interferometric fiber optic gyroscope (IFOG) is sensitive device to measure the rotation rate of an object. The IFOG output sustains with noise and random drift errors, which are influenced by the uncertainties of the external environment (like temperature, pressure, vibration) and sensor itself. Random drift is the main error source and it degrades...
The use of wireless sensor networks for indoor localization application has emerged as a significant area of interest over the last decade, primarily motivated by its low cost and convenient deployment. The weighted centroid localization algorithm is a suitable positioning technique in a wireless sensor network due to its easy implementation. However, the performance of this method is easily affected...
The cubature Kalman filter algorithm needs to know the statistical characteristic. When tracking a target, the algorithm may result in a divergence because of an unknown noise. This paper proposes an adaptive cubature Kalman filter based on cubature Kalman filter and Sage-Husa estimator. The proposed algorithm brings a Sage-Husa estimator in the cubature Kalman filter algorithm, so it can estimates...
This paper presents a low-cost underwater navigation system for Remotely Operated Underwater Vehicles (ROUVs). The navigation uses an on-board IMU signal together with intermittent GPS signal to provide real-time localization. This GPS-aided Inertial Navigation System (INS) estimates latitude and longitude of the ROUV using Kalman filter. A dedicated navigation software with a GUI is built to simulate...
In this paper, the problem of false information injection attack on the Kalman filter in dynamic systems is investigated. It is assumed that the Kalman filter system has no knowledge of the existence of the attacks. To be concrete, a target tracking system is used as an example in the paper. From the adversary’s point of view, the best attack strategies are obtained under different scenarios, including...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.