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Showing 1 to 20 of 114 for “"kalman filtering"”.
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Robust credibility and Kalman filtering
… credibility models are presented via robust Kalman filtering. Credibility theory has been shown to be a special case of the Kalman filter (De Jong and Zehnwirth, 1983), thus existing research on the robustification of the Kalman filter, for example, Cipra and Romera (1991), can be applied to …
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Kalman filtering for aided inertial navigation system
This thesis develops a Kalman filter which integrates the inertial navigation system of the Vorticity Control Unmanned Undersea Vehicle (VCUUV) with redundant navigation sensor measurements. The model for the Kalman filter uses redundant measurements in a feedback loop to better estimate navigation …
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Techniques in Kalman Filtering for Autonomous Vehicle Navigation
… wheel speed sensors (WSS) using the framework of Kalman filtering (KF). To demonstrate the flexibility of the KF several methods are explored and implemented such as constraints, multi-rate data, and cascading filters to augment the measurement matrix of a main filter. GPS and IMU navigation are …
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Kalman filtering of IMU sensor for robot balance control
This study explores the use of Kalman filtering of measurements from an inertial measurement unit (IMU) to provide information on the orientation of a robot for balance control. A test bed was created to characterize the random noise and errors inherent to orientation sensing in the MicroStrain …
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Cooperative Decentralized Intersection Collision Avoidance Using Extended Kalman Filtering
… Second, a set of constrained, coupled Extended Kalman Filters (EKF) are used to predict the trajectory of the vehicles approaching an intersection in real-time. The coupled filters support decentralized operation and ensure that the optimization algorithm bases its decisions on good, reliable …
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Kalman filtering techniques applied to the dynamic ship positioning problem
<p>The dynamic ship positioning problem using Kalman filtering techniques is considered. The main components of the system are discussed. The ship dynamics, based on a linearised model, are represented by state equations. These equations involve low and high frequency subsystems. A simplified …
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Application of Kalman filtering in computer relaying of power systems
<p>Kalman-filter models for the optimal estimation of the post-fault currents and voltages for computer relaying purposes of power systems are presented. As a prerequisite for the Kalman-filtering implementation, the random description of the fault-induced noise signals was quantitatively studied. …
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Multi-rate Sensor Fusion for GPS Navigation Using Kalman Filtering
… other sensor and data technologies, including Kalman filtered inertial navigation systems, rule-based and fuzzy-based sensor fusion techniques, and a unique map-matching algorithm.
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Examination of selected passive tracking schemes using adaptive kalman filtering
… SONAR range tracking systems have used Extended Kalman filters to process nonlinear time-delay measurements. This approach has several flaws due to the inherent divergence problems of Extended Kalman filters. This paper discusses a new approach which uses a prefilter to linearize the measurements …
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Application of the extended Kalman filtering technique to ship maneuvering analysis
Thesis. 1975. M.S.--Massachusetts Institute of Technology. Dept. of Ocean Engineering.
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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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Dynamic user motion prediction using advanced Kalman filtering in 5G mmWave systems
… information combined with beam sweeping, and Kalman Filter-based prediction to address these challenges effectively. By leveraging key measurements such as Angle of Arrival (AoA), Received Signal Strength (RSS) and Signal-to-Noise-and-Interference Ratio (SINR), the system dynamically tracks …
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Kalman Filtering and the Estimation of Multi-factor Affine Term Structure Models
… (AFNS) models. The numerical experiments involve Kalman filtering as well as likelihood optimisation for parameter estimation. It was found that the parameter sets lead to the same short rate process and thus the same model. Moreover, likelihood optimisation in the AFNS does not result in …
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Extended Kalman filtering applied to a full accelerometer strapdown inertial measurement unit
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1992.
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Adaptive Extended Kalman Filtering Strategies for Autonomous Relative Navigation of Formation Flying Spacecraft
… the development of two adaptive extended Kalman filter navigation algorithms for spacecraft formation flying. The proposed adaptive filters are capable of updating the internal noise characteristics of the Kalman filter in real time, and are viable in all orbit scenarios, including highly …
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Person tracking in 3D using Kalman filtering in single and multiple camera environments
… person tracker solution that makes use of Kalman filtering principles. The tracking system could be used in conjunction with behaviour analysis systems to perform automated monitoring of human activity in a range of different environments. Targets are tracked in a 3-D world-view coordinate …
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Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase
… extracted from Lidar scans using an Extended Kalman Filter. The results show that the proposed system can accurately estimate the state in the Z and X axes while further improvements are required to increase the accuracy of the Y axis and the orientation.
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Improving the temporal consistency of satellite-based contrail detections using ensemble Kalman filtering
… the model’s outputs with an ensemble Kalman filter. We create a hand-labeled dataset of 73 contrails tracked over a 2-hour time series which we use to quantify performance. We find that by adding temporal correlations, we are able to recover 53.25% of contrail pixels on an image, and …
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Improving attitude determination and control of resource-constrained CubeSats using unscented Kalman filtering
… attitude estimation on CubeSats using Unscented Kalman filters. CubeSats have evolved from their relatively low complexity and low computational power beginnings. This progression motivates us to revisit attitude determination estimation approaches commonly used for CubeSats, and to implement an …
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