Global ETD Search
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Showing 1 to 20 of 102 for “"EKF"”.
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On-line calibration for dynamic traffic assignment
(cont.) application, the EKF has more desirable properties than the UKF. Furthermore, the Limiting EKF provides accuracy comparable to that of the best algorithm (EKF), but with computational complexity which is order(s) of magnitude lower than the other algorithms.
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Algorithmic and implementation aspects of on-line calibration of Dynamic Traffic Assignment
… formulation. Extended Kalman Filter (EKF) is presented and validated under the state-space formulation. Pattern Search (PS), Conjugate Gradient Method (CG) and Gradient Descent (GD) are presented and validated under the direct optimization formulation. The feasibility of the approach …
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Reduced order extended kalman filter incorporating dynamics of an autonomous underwater vehicle for motion prediction
… prediction. Kinematic Extended Kalman Filters (EKF) have been applied for AUV motion prediction in the context of Simultaneous Localization and Mapping (SLAM) [1]. It has been suggested that a dynamics based EKF would produce more accurate predictions as it considers forces acting on the AUV. …
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Remote Vibration Estimation Using Displaced Phase Center Antenna SAR in a Strong Clutter Environment
… is based on the extended Kalman \ufb01lter (EKF) \ufb01rst proposed by Dr. Wang in his PhD dissertation titled Time-frequency Methods for Vibration Estimation Using Synthetic Aperture Radar [24]. Previously, EKF method could accurately estimate the target's vibration frequency for single …
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An Invariant Extended Kalman Filter for Indirect Wind Estimation Using a Small, Fixed-Wing Uncrewed Aerial Vehicle
… the invariant extended Kalman filter (invariant EKF) for indirect wind estimation using a small, fixed-wing uncrewed aerial vehicle. Indirect wind estimation methods are classified as model-based or model-free, where the model refers to the aerodynamic force and moment model of the considered …
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Constrained extended Kalman filter : an efficient improvement of calibration for dynamic traffic assignment models
… we implemented the extended Kalman filter (EKF) and tested it on the Singapore expressway network with synthetic data that replicate real world demand level. The EKF is diverging and the DTA system is even worse than when no calibration is applied. The problem lies in the truncation process …
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Quantitative Analysis of Non-Linear Probabilistic State Estimation Filters for Deployment on Dynamic Unmanned Systems
… into an Range based Extended Kalman Filter (R-EKF) state estimation algorithm with active outlier identification to outperform the native approach used by the UWB system for two-dimensional (2D) pose estimation.The study was then expanded to focus on state estimation in 3D, where a Six …
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Kalman filtering in noisy nonlinear systems using a jump matrix approach
… but in contrast to the Extended Kalman Filter (EKF) the present approach does not require the linearization step after each recursive cycle. In addition, it also appears free from the well known divergence problems associated with the EKF. It is demonstrated that this new method is directly …
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CDGPS-based relative navigation for multiple spacecraft
… relationship between the Extended Kalman Filter (EKF) design parameters and the resulting estimation accuracies, and in particular, the effect of the process and measurement noises on the semimajor axis error. This analysis clearly demonstrates that CDGPS-based relative navigation Kalman filters …
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Optimal state estimation for a power line inspection robot
… were implemented; The Extended Kalman filter (EKF), the Unscented Kalman filter (UKF) and the Error State Kalman filter (ErKF). Measurements were recorded and the filters were tested offline. While all the filters tracked properly, it was found that the EKF was better in computational speed …
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Estimation and tracking of rapidly time-varying broadband acoustic communication channels
… Algorithms based on the Extended Kalman Filter (EKF) and the Expectation Maximization (EM) approach respectively are developed. Analysis shows conceptual parallels, including an identical second-order innovation form shared by the EKF modification and the suboptimal EM, and the shared issue of …
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A comparison of data association techniques for Simultaneous Localization and Mapping
… or stem from, the Extended Kalman Filter method (EKF). However, the new algorithm FastSLAM has attracted attention for many properties not found in EKF based methods. One such property is the ability to deal with unknown data association and its robustness to data association errors. The problem …
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The potential of an extended Kalman filter for soil analysis in conjunction with a 3D-var system in a limited area NWP model
… types, like satellite observations. Recently an EKF has been developped for surface assimilation in the surface model SURFEX that meets these shortcomings. In the EKF the coefficients are calculated in an ad hoc manner, so their values are dependent on the specific location and weather situation. …
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Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter
… filter (FPF) with the extended Kalman filter (EKF) for a scalar filtering problem which has linear signal dynamics and nonlinear observation dynamics. Different parameters of the signal model and observation model will be varied and performance of the two filtering techniques FPF, EKF will be …
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Dynamic State Estimation of Microgrid With Imperfect Data Communication
… filter (UKF) and the Extended Kalman filter (EKF) are implemented using a classical generator model connected to a Thevenin equivalent of the remainder of the microgrid. The model is used to estimate the six states variables of the generator; namely, rotor angle, speed variant, d- and q- axis …
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Analysis of robot localisation performance based on extended kalman filter
… for a mobile robot, the Extended Kalman Filter (EKF) algorithm is used to achieve the required robustness and accuracy. EKF is a technique from estimation theory that combines the information of different uncertain sources to obtain the value of variables. However, there are a number of …
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State Estimation in Active Distribution Systems: Comparison Between Weighted Least Squares and Extended Kalman Filter Algorithms
… Square (WLS) and the Extended Kalman Filter (EKF) state estimation algorithms in active DNs. This dissertation develops and tests the performance of active distribution system state estimation WLS and EKF algorithms that consider the integration of DGs in standard IEEEbus test feeders. An …
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Single-Vector Aiding of an IMU for CubeSat Attitude Determination
… (EMF) is developed. An extended Kalman filter (EKF) approach to recursively estimate the attitude on-orbit using an IMU and a three-axis magnetometer (TAM) is detailed. Additionally, we describe a test to assess the stochastic observability of the EKF developed. We present simulation results …
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Radar and LiDAR Fusion for Scaled Vehicle Sensing
… vehicle using an extended Kalman filter (EKF) and the joint probabilistic data association (JPDA). Second, a 1/5th scaled vehicle performed the same vehicle maneuvers but scaled to approximately 1/5th the distance and speed. When taking the scaling factor into consideration, the RTS' …
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The Extended Preferred Ordering Theorem for Radar Tracking Using the Extended Kalman Filter
… Rarely is the extended Kalman filter (EKF) used, where the tracks are directly determined in rectangular coordinates from the radar detections via a local linearization. And so most radar tracks tend to be biased - and their Kalman covariance matrices are inconsistent with the true …
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