Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 67 for “"extended kalman filter (EKF)"”.
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Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter
… importance sampling can be avoided in particle filter through an innovation structure inspired by traditional nonlinear filtering combined with optimal control and mean-field game formalisms. The resulting algorithm is referred to as feedback particle filter (FPF). The purpose of this thesis is …
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Estimation and tracking of rapidly time-varying broadband acoustic communication channels
… as well as its dynamics. Algorithms based on the Extended Kalman Filter (EKF) and the Expectation Maximization (EM) approach respectively are developed.
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Kalman filtering in noisy nonlinear systems using a jump matrix approach
… is next developed along the lines of the Kalman filter, 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 …
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Disturbance reduction in nonlinear systems via adaptive quenching
… are incorporated into the system model and an extended Kalman filter (EKF) with modified update equations is used to estimate the system state and parameters. The estimates are then used to form the quenching signal. The adaptive quenching algorithm is found to work well inside a quenching …
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Sequential Calibration of Asset Pricing Models to Option Prices
… parameters of the models using three non-linear filtering methods, namely the extended Kalman filter (EKF), iterated extended Kalman filter (IEKF) and the unscented Kalman filter (UKF). A simulation study is performed and the non-linear filtering methods are compared to the standard least square …
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Autonomous quadrotor unmanned aerial vehicle for culvert inspection
… and acceleration) of the quadrotor by an Extended Kalman Filter (EKF). This new state estimate enables autonomous outdoor navigation and operation of this micro-UAV.
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The Eyeball ROV : an underwater Remotely Operated Vehicle featuring advances in rotational actuation, communication, and localization
… localization algorithm was implemented using an Extended Kalman Filter (EKF), and was tested in both simulations and experiments.
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Autonomous Vehicle Pose Estimation in GNSS-Denied Areas Using Cross-Track Error Measurements
… position and orientation in real-time using an extended Kalman filter (EKF) framework. By integrating CTE into an existing pose estimation architecture, the new system is able to provide vehicle state estimates with a greater accuracy than conventional inertial navigation systems (INS). …
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MEMS IMU navigation with model based dead-reckoning and one-way-travel-time acoustic range measurements for autonomous underwater vehicles
… dynamic model velocity. An implementation of an Extended Kalman Filter (EKF) that includes IMU bias estimation and coupled with a range filter, is obtained in the field on two OceanServer Technology, Inc. Iver2 AUVs and one Bluefin Robotics SandShark 𝜇AUV. Results from these field trials on …
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Localization for teams of autonomous ground vehicles
… was used as a localization baseline. An extended Kalman filter (EKF) using the manufacturer firmware’s calculated positions for the measurement input was implemented and resulted in a final pose error of 29 cm. A second EKF using calibrated ranges and least squares estimation (LSE) for …
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Geoacoustic inversion by mode amplitude perturbation
… a vertical line array (VLA). The estimator is an Extended Kalman Filter (EKF), which treats the mode amplitudes and eigenvalues as state variables. Numerous synthetic and real-data examples of both the inversion algorithm and the EKF estimator are provided. The inversion algorithm is similar to …
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Indirect Model Reference Adaptive Control with Online Parameter Estimation
… parameter estimator is compared to that of the Extended Kalman Filter (EKF), a classical time-domain approach. The algorithms will be implemented on simulation models of a general aviation aircraft, which would be representative of the dynamics of a medium-scale fixed-wing UAV. The relative …
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Geoacoustic inversion by mode amplitude perturbation
… a vertical line array (VLA). The estimator is an Extended Kalman Filter (EKF), which treats the mode amplitudes and eigenvalues as state variables. Numerous synthetic and real-data examples of both the inversion algorithm and the EKF estimator are provided. The inversion algorithm is similar to …
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Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering
… presented. The causal algorithm is based on an Extended Kalman Filter (EKF) that utilizes the hydrodynamics connecting current velocity to vehicle's motion. In both methods, the raw ADCP measurement is corrected to achieve more accurate current velocity estimate. Field data from the Haro Strait …
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Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle
… quadrotor to track an iCreate. Additionally, an Extended Kalman Filter (EKF) fuses the vision system position estimates with attitude and acceleration measurements from an on-board Inertial Measurement Unit (IMU) to allow the quadrotor to track a moving target without external localization.
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Particle filtering with Lagrangian data in a point vortex model
Particle filtering is a technique used for state estimation from noisy measurements. In fluid dynamics, a popular problem called Lagrangian data assimilation (LaDA) uses Lagrangian measurements in the form of tracer positions to learn about the changing flow field. Particle filtering can be applied …
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MEMS IMU inertial measurement unit one-way-travel-time inertial measurement unit autonomous underwater vehicles
… dynamic model velocity. An implementation of an Extended Kalman Filter (EKF) that includes IMU bias estimation and coupled with a range filter, is obtained in the field on two OceanServer Technology, Inc. Iver2 AUVs and one Bluefin Robotics SandShark [mu]AUV. Results from these field trials on …
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Vision-Aided Navigation for Autonomous Vehicles Using Tracked Feature Points
… that are tracked over multiple image frames. An extended Kalman filter (EKF) in implemented to fuse vision and IMU data. The main goal of the work is to provide navigation of mobile robots in GPS-denied environments such as indoor environments, cluttered urban environments, or space environments …
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An Underwater Vehicle Navigation System Using Acoustic and Inertial Sensors
… that have a lower absorption rate and a more extended propagation distance than electromagnetic signals underwater. The significant disadvantage of the INS is the “drift,” the unbounded error growth over time in the outputs. This thesis is aimed to study and test a combined UUV navigation …
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Comparative Analysis of Coulomb Counting and Extended Kalman Filter for State of Charge Estimation in Battery Management Systems
… Counting (CC) method, and the state-of-the-art Extended Kalman Filter method for SOC estimation was undertaken using a model based approach, involving simulation using Simulink and Simscape. Besides a current integration model, a cell model was developed and parameterized using a Lithium based …
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