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Tightly-Coupled Image-Aided Inertial Navigation Using the ...

This report describes work performed by MTC Technologies (MTCT) for NASA Glenn Research Center (GRC)

2011-01-01

An Extended Kalman Filter for Use in a Shared Aperture ...

... The unscented "sigma-point" Kalman filter "UKF ... set of carefully chosen sample points. ... Descriptors : *KALMAN FILTERING, *INERTIAL NAVIGATION ...

Stochastic Kalman filtration as a method for predicting resource of steam generator pipes

... used to track a point source target ... A one sigma tracking error of .2 ... LOOKING INFRARED SYSTEMS, *KALMAN FILTERING, SIGNAL PROCESSING ...

1978-12-01

International Nuclear Information System (INIS)

... p. SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS algorithms

Sigma-Point Kalman Filter Data Assimilation Methods for Strongly Nonlinear Systems

Comments on ``Sigma-Point Kalman Filter Data Assimilation Methods for Strongly Nonlinear Systems''

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2009-01-01

Ensemble Forecasting with the Ensemble Transform Kalman ...

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2009-01-01

A Kalman Filter Clock Algorithm for Use in the Presence of ...

... of these points corresponds to the ( " 2) term in ... (d) is identical to the 1-sigma ellipse corresponding ... A new approach to linear filtering and predicted ...

2004-08-01

Cubature Kalman smoothers

... Following the application of the error covariance update equation, we apply the following operation to the parameter covariance matrix P+: ...

2004-09-01

British Library Electronic Table of Contents (United Kingdom)

The cubature Kalman filter (CKF) is a relatively new addition to derivative-free approximate Bayesian filters built under the Gaussian assumption. This paper extends the CKF theory to address nonlinear smoothing problems; the resulting state estimator is named the fixed-interval cubature Kalman smoother (FI-CKS). Moreover, the FI-CKS is reformulated to propagate the square-root error covariances. Although algebraically equivalent to the FI-CKS, the square-root variant ensures reliable implementation when committed to embedded systems with fixed precision or when the inference problem itself is ill-conditioned. Finally, to validate the formulation, the square-root FI-CKS is applied to track a ballistic target on reentry.

2011-01-01

Efficient DSP Hardware Implementations for Navy RF Systems

Radiological Source Localisation

... of the loop filter based on ... algorithms, including delta-sigma approaches, routinely uses double-precision floating point number representations for ...

2010-09-30

Desensitized Optimal Filtering and Sensor Fusion Tool Kit

... The goal of filtering (the sequential Bayesian ... 5] and the unscented Kalman filter (UKF) [16 ... set of deterministically chosen sample (or sigma) points. ...

2007-07-01

COMPARING CONSIDER-COVARIANCE ANALYSIS WITH SIGMA-POINT CONSIDER ...

Sep 18, 2009 ... It is proposed to develop desensitized optimal filtering ... in robust and/or adaptive generalized Kalman and Sigma-Point filters for ...

Covariance matrices for track fitting with the Kalman filter

As presented in [4], the Sigma-Point Consider Filter (SPCF) algorithm extends ... lines of the derivative-free, Sigma-Point Kalman Filter algorithm given in ...

Widely Linear Kalman Filtering

We present a simple and intuitive derivation of the track parameter covariance matrix due to multiple Coulomb scattering for use in track fitting with the Kalman filter. We derive all the covariance matrix elements for two experimentally relevant track parameterizations (i.e. x and y slopes and intercepts, and direction cosines and intercepts) in the presence of thin scatterers and absence of magnetic fields. We further comment on how to account for thick and/or continuous scattering centers.

1993-06-01

A Neuro-Fuzzy Multi Swarm FastSLAM Framework

For a zero mean, proper, complex random vector x, the Hermitian covariance ExxH is a complete second-order characterization. However, if the vector x is improper, it is correlated with its complex conjugate, meaning ExxT = 0. This improper or complementary covariance must be accounted for in a complete second-order characterization. The improper covariance has been exploited for widely linear (WL) Wiener filters and WL minimum mean squared error (MMSE) estimators, and the improvement in performance of the WLMMSE estimator over the LMMSE estimator has been quantified. In this paper we consider the design of the widely linear Kalman filter (WLKF). We analyze the WLKF, extended WLKF, and unscented WLKF. The key idea of this paper is to modify the error covariance matrices and the construction of effective sigma points in the WLKF in a systematic way that exploits the Hermitian and complementary covariance of improper states and noises.

2011-01-01

Predictive wavefront control for Adaptive Optics with arbitrary control loop delays

FastSLAM is a framework for simultaneous localization using a Rao-Blackwellized particle filter. In FastSLAM, particle filter is used for the mobile robot pose (position and orientation) estimation, and an Extended Kalman Filter (EKF) is used for the feature location's estimation. However, FastSLAM degenerates over time. This degeneracy is due to the fact that a particle set estimating the pose of the robot loses its diversity. One of the main reasons for loosing particle diversity in FastSLAM is sample impoverishment. It occurs when likelihood lies in the tail of the proposal distribution. In this case, most of particle weights are insignificant. Another problem of FastSLAM relates to the design of an extended Kalman filter for landmark position's estimation. The performance of the EKF and the quality of the estimation depends heavily on correct a priori knowledge of the process and measurement noise covariance matrices (Q and R) that are in ...

2010-01-01

Practical Aspects of Kalman Filtering Implementation

We present a modification of the closed-loop state space model for AO control which allows delays that are a non-integer multiple of the system frame rate. We derive the new forms of the Predictive Fourier Control Kalman filters for arbitrary delays and show that they are linear combinations of the whole-frame delay terms. This structure of the controller is independent of the delay. System stability margins and residual error variance both transition gracefully between integer-frame delays.

2007-10-30

Estimates of Amplitudes of Transient Regimes in Quasi-Controllable Discrete Systems

... L z xyx 0 0 0 0 0 0 0 0 0 0 0 0 -V 0 0 0 0 oj A ~ 0 0 1 0 v 0 I - z Fiue2. Inertial Navigation Error Lquation-i in the Platform Frame t 'I A Page 35. ...

1976-03-01

1 2

Rapid Tools for Joint Inversion and Imaging. Final report

Families of regimes for discrete control systems are studied possessing a special quasi-controllability property that is similar to the Kalman controllability property. A new approach is proposed to estimate the amplitudes of transient regimes in quasi-controllable systems. Its essence is in obtaining of constructive a priori bounds for degree of overshooting in terms of the quasi-controllability measure. The results are applicable for analysis of transients, classical absolute stability problem and, especially, for stability problem for desynchronized (asynchronous, switching) systems.

2009-01-01

Modified-VSIMM algorithm with an application to the naval fire control technology

The activities and results of a Small Business Innovation Research Phase II project entitled ''Rapid Tools for Joint Inversion and Imaging'' are presented. Research and development on three-dimensional methods to recover distributions of material property values from sparse data are reported. Innovations using artificial neural networks and extended Kalman filtering are described. The report also covers investigations on upscaling and downscaling, segmentation for data processing, and applications to ground penetrating radar and geohydraulic tomography.

2000-08-02

British Library Electronic Table of Contents (United Kingdom)

A modified variable structure interacting multiple model (M-VSIMM) estimator for complex hybrid maneuver target tracking is presented. The M-VSIMM could potentially be applied to fire control systems (FCS) used on warships. Target model groups were designed using 3D dimensional dynamic target models. Optimal model group selection logic was proposed, contrary to the activation and termination logic in the original VSIMM. The system will respond faster with optimal model group selection logic. After performing simulations, the tracking performances of the Kalman, ?-?(-?), VDIE, IMM and M-VSIMM filters were compared under various maneuvering conditions.

2011-01-01

A navigation filter for fusing DTM/correspondence updates

Modeling and control of a novel heat exchange reactor, the Open Plate Reactor

An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute position and orientation of the camera. In order to do this, the DTM is used to formulate a constraint between corresponding features in two consecutive frames. The utilization of data is shown to improve the robustness and accuracy of the inertial navigation algorithm. Extended Kalman filter was used to combine results of inertial navigation algorithm and proposed vision-based navigation algorithm. The feasibility of this algorithms is established through numerical simulations.

2011-01-01

British Library Electronic Table of Contents (United Kingdom)

A new chemical reactor, the Open Plate Reactor, is being developed by Alfa Laval AB. It combines good mixing with high heat transfer capacity into one operation. With the new concept, highly exothermic reactions can be produced using more concentrated reactants. A nonlinear model of the reactor is derived and a control system is developed. For temperature control a cooling system is designed and experimentally verified, which uses a mid-ranging control structure to increase the operating range of the hydraulic equipment. A Model Predictive Controller is proposed to maximize the conversion under hard input and state constraints. An extended Kalman filter is designed to estimate unmeasured concentrations and parameters. Simulations show that the designed control system gives high conversion ...

2007-01-01

Challenges in presenting high dimensional data to aid in triage in the DARPA virtual soldier project.

Assimilating remote sensing and in situ observations into a coastal model of northern South China Sea using ensemble Kalman filter

One of the goals of the DARPA Virtual Soldier Project is to aid the field medic in the triage of a casualty. In Phase I, we are currently collecting 12 baseline experimental physiological variables and a cardiac gated Computed Tomography (CT) imagery for use in an prototyping a futuristic electronic medical record, the "Holomer". We are using physiological models and Kalman filtering to aid in diagnosis and predict outcomes in relation to cardiac injury. The physiological modeling introduces another few hundred variables. Reducing the complexity of the above into easy-to-read text to aid in the triage by the field medic is the challenge with multiple display solutions. A description of the possible techniques follows. PMID:15718701

2005-01-01

British Library Electronic Table of Contents (United Kingdom)

Major forecast errors on the background error covariance from initial conditions, atmospheric forcing, model open boundary conditions, and the river discharges are examined in a coastal model of northern South China Sea. The analysis of background error covariance matrix produced by model ensemble shows that the perturbations of the initial conditions and atmospheric forcing play major roles in producing and maintaining the amplitude of ensemble spread except for the sea surface height (SSH) field. The perturbation of model open boundary conditions can influence ensemble spread of all variables and covariance between temperature and velocity or between temperature and SSH. The perturbation of river discharge mainly affects the covariance of salinity in river estuary. A data assimilation ex...

2011-01-01

Implementation of Accelerated Beam-Specific Matched-Filter-Based Optical Alignment

PRELIMINARY CROSS SECTION AND NU-BAR COVARIANCES FOR WPEC SUBGROUP 26

Accurate automated alignment of laser beams in the National Ignition Facility (NIF) is essential for achieving extreme temperature and pressure required for inertial confinement fusion. The alignment achieved by the integrated control systems relies on algorithms processing video images to determine the position of the laser beam images in real-time. Alignment images that exhibit wide variations in beam quality require a matched-filter algorithm for position detection. One challenge in designing a matched-filter based algorithm is to construct a filter template that is resilient to variations in imaging conditions while guaranteeing accurate position determination. A second challenge is to process the image as fast as possible. This paper describes the development of a new analytical template that captures key recurring features present in the beam image to accurately estimate the beam position under good image quality conditions. Depending on ...

2009-01-29

Fast Implementation of Matched Filter Based Automatic Alignment Image Processing

We report preliminary cross section covariances developed for the WPEC Subgroup 26 for 45 out of 52 requested materials. The covariances were produced in 15- and 187-group representations as follows: (1) 36 isotopes ({sup 16}O, {sup 19}F, {sup 23}Na, {sup 27}Al, {sup 28}Si, {sup 52}Cr, {sup 56,56}Fe, {sup 58}Ni, {sup 90,91,92,94}Zr, {sup 166,167,168,170}Er, {sup 206,207,208}Pb, {sup 209}Bi, {sup 233,234,236}U, {sup 237}Np, {sup 238,240,241,242}Pu, {sup 241,242m,243}Am, {sup 242,243,244,245}Cm) were evaluated using the BNL-LANL methodology. For the thermal region and the resolved and unresolved resonance regions, the methodology has been based on the Atlas-Kalman approach, in the fast neutron region the Empire-Kalman method has been used; (2) 6 isotopes ({sup 155,156,157,158,160}Gd and {sup 232}Th) were taken from ENDF/B-VII.0; and (3) 3 isotopes ({sup 1}H, {sup 238}U and {sup 239}Pu) were taken from JENDL-3.3. For 6 light nuclei ({sup 4}He, ...

2007-01-31

Multiscale modeling of skeletal muscle properties and experimental validations in isometric conditions.

Video images of laser beams imprinted with distinguishable features are used for alignment of 192 laser beams at the National Ignition Facility (NIF). Algorithms designed to determine the position of these beams enable the control system to perform the task of alignment. Centroiding is a common approach used for determining the position of beams. However, real world beam images suffer from intensity fluctuation or other distortions which make such an approach susceptible to higher position measurement variability. Matched filtering used for identifying the beam position results in greater stability of position measurement compared to that obtained using the centroiding technique. However, this gain is achieved at the expense of extra processing time required for each beam image. In this work we explore the possibility of using a field programmable logic array (FPGA) to speed up these computations. The results indicate a performance improvement of 20 using the FPGA relative to a 3 GHz ...

2008-04-02