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Sample records for constrained nonlinear kalman

  1. An ensemble Kalman filter for statistical estimation of physics constrained nonlinear regression models

    Energy Technology Data Exchange (ETDEWEB)

    Harlim, John, E-mail: jharlim@psu.edu [Department of Mathematics and Department of Meteorology, the Pennsylvania State University, University Park, PA 16802, Unites States (United States); Mahdi, Adam, E-mail: amahdi@ncsu.edu [Department of Mathematics, North Carolina State University, Raleigh, NC 27695 (United States); Majda, Andrew J., E-mail: jonjon@cims.nyu.edu [Department of Mathematics and Center for Atmosphere and Ocean Science, Courant Institute of Mathematical Sciences, New York University, New York, NY 10012 (United States)

    2014-01-15

    A central issue in contemporary science is the development of nonlinear data driven statistical–dynamical models for time series of noisy partial observations from nature or a complex model. It has been established recently that ad-hoc quadratic multi-level regression models can have finite-time blow-up of statistical solutions and/or pathological behavior of their invariant measure. Recently, a new class of physics constrained nonlinear regression models were developed to ameliorate this pathological behavior. Here a new finite ensemble Kalman filtering algorithm is developed for estimating the state, the linear and nonlinear model coefficients, the model and the observation noise covariances from available partial noisy observations of the state. Several stringent tests and applications of the method are developed here. In the most complex application, the perfect model has 57 degrees of freedom involving a zonal (east–west) jet, two topographic Rossby waves, and 54 nonlinearly interacting Rossby waves; the perfect model has significant non-Gaussian statistics in the zonal jet with blocked and unblocked regimes and a non-Gaussian skewed distribution due to interaction with the other 56 modes. We only observe the zonal jet contaminated by noise and apply the ensemble filter algorithm for estimation. Numerically, we find that a three dimensional nonlinear stochastic model with one level of memory mimics the statistical effect of the other 56 modes on the zonal jet in an accurate fashion, including the skew non-Gaussian distribution and autocorrelation decay. On the other hand, a similar stochastic model with zero memory levels fails to capture the crucial non-Gaussian behavior of the zonal jet from the perfect 57-mode model.

  2. Particle Kalman Filtering: A Nonlinear Framework for Ensemble Kalman Filters

    KAUST Repository

    Hoteit, Ibrahim

    2010-09-19

    Optimal nonlinear filtering consists of sequentially determining the conditional probability distribution functions (pdf) of the system state, given the information of the dynamical and measurement processes and the previous measurements. Once the pdfs are obtained, one can determine different estimates, for instance, the minimum variance estimate, or the maximum a posteriori estimate, of the system state. It can be shown that, many filters, including the Kalman filter (KF) and the particle filter (PF), can be derived based on this sequential Bayesian estimation framework. In this contribution, we present a Gaussian mixture‐based framework, called the particle Kalman filter (PKF), and discuss how the different EnKF methods can be derived as simplified variants of the PKF. We also discuss approaches to reducing the computational burden of the PKF in order to make it suitable for complex geosciences applications. We use the strongly nonlinear Lorenz‐96 model to illustrate the performance of the PKF.

  3. Nonlinear Kalman Filtering in Affine Term Structure Models

    DEFF Research Database (Denmark)

    Christoffersen, Peter; Dorion, Christian; Jacobs, Kris;

    2014-01-01

    The extended Kalman filter, which linearizes the relationship between security prices and state variables, is widely used in fixed-income applications. We investigate whether the unscented Kalman filter should be used to capture nonlinearities and compare the performance of the Kalman filter...... with that of the particle filter. We analyze the cross section of swap rates, which are mildly nonlinear in the states, and cap prices, which are highly nonlinear. When caps are used to filter the states, the unscented Kalman filter significantly outperforms its extended counterpart. The unscented Kalman filter also...

  4. Performance enhancement for GPS positioning using constrained Kalman filtering

    Science.gov (United States)

    Guo, Fei; Zhang, Xiaohong; Wang, Fuhong

    2015-08-01

    Over the past decades Kalman filtering (KF) algorithms have been extensively investigated and applied in the area of kinematic positioning. In the application of KF in kinematic precise point positioning (PPP), it is often the case where some known functional or theoretical relations exist among the unknown state parameters, which can be and should be made use of to enhance the performance of kinematic PPP, especially in an urban and forest environment. The central task of this paper is to effectively blend the commonly used GNSS data and internal/external additional constrained information to generate an optimal PPP solution. This paper first investigates the basic algorithm of constrained Kalman filtering. Then two types of PPP model with speed constraints and trajectory constraints, respectively, are proposed. Further validation tests based on a variety of situations show that the positioning performances (positioning accuracy, reliability and continuity) from the constrained Kalman filter are significantly superior to those from the conventional Kalman filter, particularly under extremely poor observation conditions.

  5. Particle Kalman Filtering: A Nonlinear Bayesian Framework for Ensemble Kalman Filters

    CERN Document Server

    Hoteit, Ibrahim; Pham, Dinh-Tuan

    2011-01-01

    This paper investigates an approximation scheme of the optimal nonlinear Bayesian filter based on the Gaussian mixture representation of the state probability distribution function. The resulting filter is similar to the particle filter, but is different from it in that, the standard weight-type correction in the particle filter is complemented by the Kalman-type correction with the associated covariance matrices in the Gaussian mixture. We show that this filter is an algorithm in between the Kalman filter and the particle filter, and therefore is referred to as the particle Kalman filter (PKF). In the PKF, the solution of a nonlinear filtering problem is expressed as the weighted average of an "ensemble of Kalman filters" operating in parallel. Running an ensemble of Kalman filters is, however, computationally prohibitive for realistic atmospheric and oceanic data assimilation problems. For this reason, we consider the construction of the PKF through an "ensemble" of ensemble Kalman filters (EnKFs) instead, ...

  6. Model Predictive Control Based on Kalman Filter for Constrained Hammerstein-Wiener Systems

    Directory of Open Access Journals (Sweden)

    Man Hong

    2013-01-01

    Full Text Available To precisely track the reactor temperature in the entire working condition, the constrained Hammerstein-Wiener model describing nonlinear chemical processes such as in the continuous stirred tank reactor (CSTR is proposed. A predictive control algorithm based on the Kalman filter for constrained Hammerstein-Wiener systems is designed. An output feedback control law regarding the linear subsystem is derived by state observation. The size of reaction heat produced and its influence on the output are evaluated by the Kalman filter. The observation and evaluation results are calculated by the multistep predictive approach. Actual control variables are computed while considering the constraints of the optimal control problem in a finite horizon through the receding horizon. The simulation example of the CSTR tester shows the effectiveness and feasibility of the proposed algorithm.

  7. Particle Kalman Filtering: A Nonlinear Bayesian Framework for Ensemble Kalman Filters*

    KAUST Repository

    Hoteit, Ibrahim

    2012-02-01

    This paper investigates an approximation scheme of the optimal nonlinear Bayesian filter based on the Gaussian mixture representation of the state probability distribution function. The resulting filter is similar to the particle filter, but is different from it in that the standard weight-type correction in the particle filter is complemented by the Kalman-type correction with the associated covariance matrices in the Gaussian mixture. The authors show that this filter is an algorithm in between the Kalman filter and the particle filter, and therefore is referred to as the particle Kalman filter (PKF). In the PKF, the solution of a nonlinear filtering problem is expressed as the weighted average of an “ensemble of Kalman filters” operating in parallel. Running an ensemble of Kalman filters is, however, computationally prohibitive for realistic atmospheric and oceanic data assimilation problems. For this reason, the authors consider the construction of the PKF through an “ensemble” of ensemble Kalman filters (EnKFs) instead, and call the implementation the particle EnKF (PEnKF). It is shown that different types of the EnKFs can be considered as special cases of the PEnKF. Similar to the situation in the particle filter, the authors also introduce a resampling step to the PEnKF in order to reduce the risk of weights collapse and improve the performance of the filter. Numerical experiments with the strongly nonlinear Lorenz-96 model are presented and discussed.

  8. Ensemble-based Kalman Filters in Strongly Nonlinear Dynamics

    Institute of Scientific and Technical Information of China (English)

    Zhaoxia PU; Joshua HACKER

    2009-01-01

    This study examines the effectiveness of ensemble Kalman filters in data assimilation with the strongly nonlinear dynamics of the Lorenz-63 model, and in particular their use in predicting the regime transition that occurs when the model jumps from one basin of attraction to the other. Four configurations of the ensemble-based Kalman filtering data assimilation techniques, including the ensemble Kalman filter, ensemble adjustment Kalman filter, ensemble square root filter and ensemble transform Kalman filter, are evaluated with their ability in predicting the regime transition (also called phase transition) and also are compared in terms of their sensitivity to both observational and sampling errors. The sensitivity of each ensemble-based filter to the size of the ensemble is also examined.

  9. Constraining the Ensemble Kalman Filter for improved streamflow forecasting

    Science.gov (United States)

    Maxwell, Deborah; Jackson, Bethanna; McGregor, James

    2016-04-01

    Data assimilation techniques such as the Kalman Filter and its variants are often applied to hydrological models with minimal state volume/capacity constraints. Flux constraints are rarely, if ever, applied. Consequently, model states can be adjusted beyond physically reasonable limits, compromising the integrity of model output. In this presentation, we investigate the effect of constraining the Ensemble Kalman Filter (EnKF) on forecast performance. An EnKF implementation with no constraints is compared to model output with no assimilation, followed by a 'typical' hydrological implementation (in which mass constraints are enforced to ensure non-negativity and capacity thresholds of model states are not exceeded), and then a more tightly constrained implementation where flux as well as mass constraints are imposed to limit the rate of water movement within a state. A three year period (2008-2010) with no significant data gaps and representative of the range of flows observed over the fuller 1976-2010 record was selected for analysis. Over this period, the standard implementation of the EnKF (no constraints) contained eight hydrological events where (multiple) physically inconsistent state adjustments were made. All were selected for analysis. Overall, neither the unconstrained nor the "typically" mass-constrained forecasts were significantly better than the non-filtered forecasts; in fact several were significantly degraded. Flux constraints (in conjunction with mass constraints) significantly improved the forecast performance of six events relative to all other implementations, while the remaining two events showed no significant difference in performance. We conclude that placing flux as well as mass constraints on the data assimilation framework encourages physically consistent state updating and results in more accurate and reliable forward predictions of streamflow for robust decision-making. We also experiment with the observation error, and find that this

  10. Nonlinear dynamical system identification using unscented Kalman filter

    Science.gov (United States)

    Rehman, M. Javvad ur; Dass, Sarat Chandra; Asirvadam, Vijanth Sagayan

    2016-11-01

    Kalman Filter is the most suitable choice for linear state space and Gaussian error distribution from decades. In general practical systems are not linear and Gaussian so these assumptions give inconsistent results. System Identification for nonlinear dynamical systems is a difficult task to perform. Usually, Extended Kalman Filter (EKF) is used to deal with non-linearity in which Jacobian method is used for linearizing the system dynamics, But it has been observed that in highly non-linear environment performance of EKF is poor. Unscented Kalman Filter (UKF) is proposed here as a better option because instead of analytical linearization of state space, UKF performs statistical linearization by using sigma point calculated from deterministic samples. Formation of the posterior distribution is based on the propagation of mean and covariance through sigma points.

  11. Nonlinear Kalman Filtering in Affine Term Structure Models

    DEFF Research Database (Denmark)

    Christoffersen, Peter; Dorion, Christian; Jacobs, Kris;

    When the relationship between security prices and state variables in dynamic term structure models is nonlinear, existing studies usually linearize this relationship because nonlinear fi…ltering is computationally demanding. We conduct an extensive investigation of this linearization and analyze...... Monte Carlo experiment demonstrates that the unscented Kalman fi…lter is much more accurate than its extended counterpart in fi…ltering the states and forecasting swap rates and caps. Our fi…ndings suggest that the unscented Kalman fi…lter may prove to be a good approach for a number of other problems...... in fi…xed income pricing with nonlinear relationships between the state vector and the observations, such as the estimation of term structure models using coupon bonds and the estimation of quadratic term structure models....

  12. Nonlinear Kalman filtering in the presence of additive noise

    Science.gov (United States)

    Kraszewski, Tomasz; Czopik, Grzegorz

    2017-04-01

    Each modern navigation or localization system designed for ground, water or air objects should provide information on the estimated parameters continuously and as accurately as possible. The implementation of such a process requires the application to operate on non-linear transformations. The defined expectations necessitate the use of nonlinear filtering elements with particular emphasis on the extended Kalman filter. The article presents the simulation research elements of this filter type in the aspect of the possibility of its practical implementation. In the initial phase of the study the conclusion was based on nonlinear one-dimensional model. The possibility of improving the precision of the output through the use of unscented Kalman filters was also analyzed.

  13. Constrained Kalman Filtering Via Density Function Truncation for Turbofan Engine Health Estimation

    Science.gov (United States)

    Simon, Dan; Simon, Donald L.

    2006-01-01

    Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints (which may be based on physical considerations) are often neglected because they do not fit easily into the structure of the Kalman filter. This paper develops an analytic method of incorporating state variable inequality constraints in the Kalman filter. The resultant filter truncates the PDF (probability density function) of the Kalman filter estimate at the known constraints and then computes the constrained filter estimate as the mean of the truncated PDF. The incorporation of state variable constraints increases the computational effort of the filter but significantly improves its estimation accuracy. The improvement is demonstrated via simulation results obtained from a turbofan engine model. The turbofan engine model contains 3 state variables, 11 measurements, and 10 component health parameters. It is also shown that the truncated Kalman filter may be a more accurate way of incorporating inequality constraints than other constrained filters (e.g., the projection approach to constrained filtering).

  14. A regularizing iterative ensemble Kalman method for PDE-constrained inverse problems

    Science.gov (United States)

    Iglesias, Marco A.

    2016-02-01

    We introduce a derivative-free computational framework for approximating solutions to nonlinear PDE-constrained inverse problems. The general aim is to merge ideas from iterative regularization with ensemble Kalman methods from Bayesian inference to develop a derivative-free stable method easy to implement in applications where the PDE (forward) model is only accessible as a black box (e.g. with commercial software). The proposed regularizing ensemble Kalman method can be derived as an approximation of the regularizing Levenberg-Marquardt (LM) scheme (Hanke 1997 Inverse Problems 13 79-95) in which the derivative of the forward operator and its adjoint are replaced with empirical covariances from an ensemble of elements from the admissible space of solutions. The resulting ensemble method consists of an update formula that is applied to each ensemble member and that has a regularization parameter selected in a similar fashion to the one in the LM scheme. Moreover, an early termination of the scheme is proposed according to a discrepancy principle-type of criterion. The proposed method can be also viewed as a regularizing version of standard Kalman approaches which are often unstable unless ad hoc fixes, such as covariance localization, are implemented. The aim of this paper is to provide a detailed numerical investigation of the regularizing and convergence properties of the proposed regularizing ensemble Kalman scheme; the proof of these properties is an open problem. By means of numerical experiments, we investigate the conditions under which the proposed method inherits the regularizing properties of the LM scheme of (Hanke 1997 Inverse Problems 13 79-95) and is thus stable and suitable for its application in problems where the computation of the Fréchet derivative is not computationally feasible. More concretely, we study the effect of ensemble size, number of measurements, selection of initial ensemble and tunable parameters on the performance of the method

  15. On Ensemble Nonlinear Kalman Filtering with Symmetric Analysis Ensembles

    KAUST Repository

    Luo, Xiaodong

    2010-09-19

    The ensemble square root filter (EnSRF) [1, 2, 3, 4] is a popular method for data assimilation in high dimensional systems (e.g., geophysics models). Essentially the EnSRF is a Monte Carlo implementation of the conventional Kalman filter (KF) [5, 6]. It is mainly different from the KF at the prediction steps, where it is some ensembles, rather then the means and covariance matrices, of the system state that are propagated forward. In doing this, the EnSRF is computationally more efficient than the KF, since propagating a covariance matrix forward in high dimensional systems is prohibitively expensive. In addition, the EnSRF is also very convenient in implementation. By propagating the ensembles of the system state, the EnSRF can be directly applied to nonlinear systems without any change in comparison to the assimilation procedures in linear systems. However, by adopting the Monte Carlo method, the EnSRF also incurs certain sampling errors. One way to alleviate this problem is to introduce certain symmetry to the ensembles, which can reduce the sampling errors and spurious modes in evaluation of the means and covariances of the ensembles [7]. In this contribution, we present two methods to produce symmetric ensembles. One is based on the unscented transform [8, 9], which leads to the unscented Kalman filter (UKF) [8, 9] and its variant, the ensemble unscented Kalman filter (EnUKF) [7]. The other is based on Stirling’s interpolation formula (SIF), which results in the divided difference filter (DDF) [10]. Here we propose a simplified divided difference filter (sDDF) in the context of ensemble filtering. The similarity and difference between the sDDF and the EnUKF will be discussed. Numerical experiments will also be conducted to investigate the performance of the sDDF and the EnUKF, and compare them to a well‐established EnSRF, the ensemble transform Kalman filter (ETKF) [2].

  16. Non-linear Kalman filters for calibration in radio interferometry

    CERN Document Server

    Tasse, Cyril

    2014-01-01

    We present a new calibration scheme based on a non-linear version of Kalman filter that aims at estimating the physical terms appearing in the Radio Interferometry Measurement Equation (RIME). We enrich the filter's structure with a tunable data representation model, together with an augmented measurement model for regularization. We show using simulations that it can properly estimate the physical effects appearing in the RIME. We found that this approach is particularly useful in the most extreme cases such as when ionospheric and clock effects are simultaneously present. Combined with the ability to provide prior knowledge on the expected structure of the physical instrumental effects (expected physical state and dynamics), we obtain a fairly cheap algorithm that we believe to be robust, especially in low signal-to-noise regime. Potentially the use of filters and other similar methods can represent an improvement for calibration in radio interferometry, under the condition that the effects corrupting visib...

  17. A chaotic communication system of improved performance based on the Derivative-free nonlinear Kalman filter

    Science.gov (United States)

    Rigatos, Gerasimos

    2016-07-01

    The Derivative-free nonlinear Kalman Filter is used for developing a communication system that is based on a chaotic modulator such as the Duffing system. In the transmitter's side, the source of information undergoes modulation (encryption) in which a chaotic signal generated by the Duffing system is the carrier. The modulated signal is transmitted through a communication channel and at the receiver's side demodulation takes place, after exploiting the estimation provided about the state vector of the chaotic oscillator by the Derivative-free nonlinear Kalman Filter. Evaluation tests confirm that the proposed filtering method has improved performance over the Extended Kalman Filter and reduces significantly the rate of transmission errors. Moreover, it is shown that the proposed Derivative-free nonlinear Kalman Filter can work within a dual Kalman Filtering scheme, for performing simultaneously transmitter-receiver synchronisation and estimation of unknown coefficients of the communication channel.

  18. A new class of nonlinear Rauch-Tung-Striebel cubature Kalman smoothers.

    Science.gov (United States)

    Jia, Bin; Xin, Ming

    2015-03-01

    In this paper, a new Rauch-Tung-Striebel type of nonlinear smoothing method is proposed based on a class of high-degree cubature integration rules. This new class of cubature Kalman smoothers generalizes the conventional third-degree cubature Kalman smoother using the combination of Genz׳s or Mysovskikh׳s high-degree spherical rule with the moment matching based arbitrary-degree radial rule, which considerably improves the estimation accuracy. A target tracking problem is utilized to demonstrate the performance of this new smoother and to compare it with other Gaussian approximation smoothers. It will be shown that this new cubature Kalman smoother enhances the filtering accuracy and outperforms the extended Kalman smoother, the unscented Kalman smoother, and the conventional third-degree cubature Kalman smoother. It also maintains close performance to the Gauss-Hermite quadrature smoother with much less computational cost.

  19. Hypersonic entry vehicle state estimation using nonlinearity-based adaptive cubature Kalman filters

    Science.gov (United States)

    Sun, Tao; Xin, Ming

    2017-05-01

    Guidance, navigation, and control of a hypersonic vehicle landing on the Mars rely on precise state feedback information, which is obtained from state estimation. The high uncertainty and nonlinearity of the entry dynamics make the estimation a very challenging problem. In this paper, a new adaptive cubature Kalman filter is proposed for state trajectory estimation of a hypersonic entry vehicle. This new adaptive estimation strategy is based on the measure of nonlinearity of the stochastic system. According to the severity of nonlinearity along the trajectory, the high degree cubature rule or the conventional third degree cubature rule is adaptively used in the cubature Kalman filter. This strategy has the benefit of attaining higher estimation accuracy only when necessary without causing excessive computation load. The simulation results demonstrate that the proposed adaptive filter exhibits better performance than the conventional third-degree cubature Kalman filter while maintaining the same performance as the uniform high degree cubature Kalman filter but with lower computation complexity.

  20. On a nonlinear Kalman filter with simplified divided difference approximation

    KAUST Repository

    Luo, Xiaodong

    2012-03-01

    We present a new ensemble-based approach that handles nonlinearity based on a simplified divided difference approximation through Stirling\\'s interpolation formula, which is hence called the simplified divided difference filter (sDDF). The sDDF uses Stirling\\'s interpolation formula to evaluate the statistics of the background ensemble during the prediction step, while at the filtering step the sDDF employs the formulae in an ensemble square root filter (EnSRF) to update the background to the analysis. In this sense, the sDDF is a hybrid of Stirling\\'s interpolation formula and the EnSRF method, while the computational cost of the sDDF is less than that of the EnSRF. Numerical comparison between the sDDF and the EnSRF, with the ensemble transform Kalman filter (ETKF) as the representative, is conducted. The experiment results suggest that the sDDF outperforms the ETKF with a relatively large ensemble size, and thus is a good candidate for data assimilation in systems with moderate dimensions. © 2011 Elsevier B.V. All rights reserved.

  1. Highway traffic estimation of improved precision using the derivative-free nonlinear Kalman Filter

    Science.gov (United States)

    Rigatos, Gerasimos; Siano, Pierluigi; Zervos, Nikolaos; Melkikh, Alexey

    2015-12-01

    The paper proves that the PDE dynamic model of the highway traffic is a differentially flat one and by applying spatial discretization its shows that the model's transformation into an equivalent linear canonical state-space form is possible. For the latter representation of the traffic's dynamics, state estimation is performed with the use of the Derivative-free nonlinear Kalman Filter. The proposed filter consists of the Kalman Filter recursion applied on the transformed state-space model of the highway traffic. Moreover, it makes use of an inverse transformation, based again on differential flatness theory which enables to obtain estimates of the state variables of the initial nonlinear PDE model. By avoiding approximate linearizations and the truncation of nonlinear terms from the PDE model of the traffic's dynamics the proposed filtering methods outperforms, in terms of accuracy, other nonlinear estimators such as the Extended Kalman Filter. The article's theoretical findings are confirmed through simulation experiments.

  2. An Unscented Kalman Filter Approach to the Estimation of Nonlinear Dynamical Systems Models

    Science.gov (United States)

    Chow, Sy-Miin; Ferrer, Emilio; Nesselroade, John R.

    2007-01-01

    In the past several decades, methodologies used to estimate nonlinear relationships among latent variables have been developed almost exclusively to fit cross-sectional models. We present a relatively new estimation approach, the unscented Kalman filter (UKF), and illustrate its potential as a tool for fitting nonlinear dynamic models in two ways:…

  3. Estimation of intra-operative brain shift based on constrained Kalman filter.

    Science.gov (United States)

    Shakarami, M; Suratgar, A A; Talebi, H A

    2015-03-01

    In this study, the problem of estimation of brain shift is addressed by which the accuracy of neuronavigation systems can be improved. To this end, the actual brain shift is considered as a Gaussian random vector with a known mean and an unknown covariance. Then, brain surface imaging is employed together with solutions of linear elastic model and the best estimation is found using constrained Kalman filter (CKF). Moreover, a recursive method (RCKF) is presented, the computational cost of which in the operating room is significantly lower than CKF, because it is not required to compute inverse of any large matrix. Finally, the theory is verified by the simulation results, which show the superiority of the proposed method as compared to one existing method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  4. A novel extended Kalman filter for a class of nonlinear systems

    Institute of Scientific and Technical Information of China (English)

    DONG Zhe; YOU Zheng

    2006-01-01

    Estimation of the state variables of nonlinear systems is one of the fundamental and significant problems in control and signal processing. A new extended Kalman filtering approach for a class of nonlinear discrete-time systems in engineering is presented in this paper. In contrast to the celebrated extended Kalman filter (EKF), there is no linearization operation in the design procedure of the filter, and the parameters of the filter are obtained through minimizing a proper upper bound of the mean-square estimation error. Simulation results show that this filter can provide higher estimation precision than that provided by the EKF.

  5. Control of underactuated robotic systems with the use of the derivative-free nonlinear Kalman filter

    Science.gov (United States)

    Rigatos, Gerasimos G.; Siano, Pierluigi

    2013-10-01

    The Derivative-free nonlinear Kalman Filter is used for developing a robust controller which can be applied to underactuated MIMO robotic systems. Using differential flatness theory it is shown that the model of a closed-chain 2-DOF robotic manipulator can be transformed to linear canonical form. For the linearized equivalent of the robotic system it is shown that a state feedback controller can be designed. Since certain elements of the state vector of the linearized system can not be measured directly, it is proposed to estimate them with the use of a novel filtering method, the so-called Derivative-free nonlinear Kalman Filter. Moreover, by redesigning the Kalman Filter as a disturbance observer, it is is shown that one can estimate simultaneously external disturbances terms that affect the robotic model or disturbance terms which are associated with parametric uncertainty.

  6. Change detection in the dynamics of an intracellular protein synthesis model using nonlinear Kalman filtering.

    Science.gov (United States)

    Rigatos, Gerasimos G; Rigatou, Efthymia G; Djida, Jean Daniel

    2015-10-01

    A method for early diagnosis of parametric changes in intracellular protein synthesis models (e.g. the p53 protein - mdm2 inhibitor model) is developed with the use of a nonlinear Kalman Filtering approach (Derivative-free nonlinear Kalman Filter) and of statistical change detection methods. The intracellular protein synthesis dynamic model is described by a set of coupled nonlinear differential equations. It is shown that such a dynamical system satisfies differential flatness properties and this allows to transform it, through a change of variables (diffeomorphism), to the so-called linear canonical form. For the linearized equivalent of the dynamical system, state estimation can be performed using the Kalman Filter recursion. Moreover, by applying an inverse transformation based on the previous diffeomorphism it becomes also possible to obtain estimates of the state variables of the initial nonlinear model. By comparing the output of the Kalman Filter (which is assumed to correspond to the undistorted dynamical model) with measurements obtained from the monitored protein synthesis system, a sequence of differences (residuals) is obtained. The statistical processing of the residuals with the use of x2 change detection tests, can provide indication within specific confidence intervals about parametric changes in the considered biological system and consequently indications about the appearance of specific diseases (e.g. malignancies).

  7. Non-linear DSGE Models, The Central Difference Kalman Filter, and The Mean Shifted Particle Filter

    DEFF Research Database (Denmark)

    Andreasen, Martin Møller

    This paper shows how non-linear DSGE models with potential non-normal shocks can be estimated by Quasi-Maximum Likelihood based on the Central Difference Kalman Filter (CDKF). The advantage of this estimator is that evaluating the quasi log-likelihood function only takes a fraction of a second. T...

  8. Nonlinear Kalman Filtering for acoustic emission source localization in anisotropic panels.

    Science.gov (United States)

    Dehghan Niri, E; Farhidzadeh, A; Salamone, S

    2014-02-01

    Nonlinear Kalman Filtering is an established field in applied probability and control systems, which plays an important role in many practical applications from target tracking to weather and climate prediction. However, its application for acoustic emission (AE) source localization has been very limited. In this paper, two well-known nonlinear Kalman Filtering algorithms are presented to estimate the location of AE sources in anisotropic panels: the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). These algorithms are applied to two cases: velocity profile known (CASE I) and velocity profile unknown (CASE II). The algorithms are compared with a more traditional nonlinear least squares method. Experimental tests are carried out on a carbon-fiber reinforced polymer (CFRP) composite panel instrumented with a sparse array of piezoelectric transducers to validate the proposed approaches. AE sources are simulated using an instrumented miniature impulse hammer. In order to evaluate the performance of the algorithms, two metrics are used: (1) accuracy of the AE source localization and (2) computational cost. Furthermore, it is shown that both EKF and UKF can provide a confidence interval of the estimated AE source location and can account for uncertainty in time of flight measurements.

  9. Constrained optimization for image restoration using nonlinear programming

    Science.gov (United States)

    Yeh, C.-L.; Chin, R. T.

    1985-01-01

    The constrained optimization problem for image restoration, utilizing incomplete information and partial constraints, is formulated using nonlinear proramming techniques. This method restores a distorted image by optimizing a chosen object function subject to available constraints. The penalty function method of nonlinear programming is used. Both linear or nonlinear object function, and linear or nonlinear constraint functions can be incorporated in the formulation. This formulation provides a generalized approach to solve constrained optimization problems for image restoration. Experiments using this scheme have been performed. The results are compared with those obtained from other restoration methods and the comparative study is presented.

  10. A modified ensemble Kalman particle filter for non-Gaussian systems with nonlinear measurement functions

    Science.gov (United States)

    Shen, Zheqi; Tang, Youmin

    2016-04-01

    The ensemble Kalman particle filter (EnKPF) is a combination of two Bayesian-based algorithms, namely, the ensemble Kalman filter (EnKF) and the sequential importance resampling particle filter(SIR-PF). It was recently introduced to address non-Gaussian features in data assimilation for highly nonlinear systems, by providing a continuous interpolation between the EnKF and SIR-PF analysis schemes. In this paper, we first extend the EnKPF algorithm by modifying the formula for the computation of the covariancematrix, making it suitable for nonlinear measurement functions (we will call this extended algorithm nEnKPF). Further, a general form of the Kalman gain is introduced to the EnKPF to improve the performance of the nEnKPF when the measurement function is highly nonlinear (this improved algorithm is called mEnKPF). The Lorenz '63 model and Lorenz '96 model are used to test the two modified EnKPF algorithms. The experiments show that the mEnKPF and nEnKPF, given an affordable ensemble size, can perform better than the EnKF for the nonlinear systems with nonlinear observations. These results suggest a promising opportunity to develop a non-Gaussian scheme for realistic numerical models.

  11. Remarks on a benchmark nonlinear constrained optimization problem

    Institute of Scientific and Technical Information of China (English)

    Luo Yazhong; Lei Yongjun; Tang Guojin

    2006-01-01

    Remarks on a benchmark nonlinear constrained optimization problem are made. Due to a citation error, two absolutely different results for the benchmark problem are obtained by independent researchers. Parallel simulated annealing using simplex method is employed in our study to solve the benchmark nonlinear constrained problem with mistaken formula and the best-known solution is obtained, whose optimality is testified by the Kuhn-Tucker conditions.

  12. Constrained Superfields and Standard Realization of Nonlinear Supersymmetry

    CERN Document Server

    Luo, Hui; Zheng, Sibo

    2009-01-01

    A constrained superfield formalism has been proposed recently to analyze the low energy physics related to Goldstinos. We prove that this formalism can be reformulated in the language of standard realization of nonlinear supersymmetry. New relations have been uncovered in the standard realization of nonlinear supersymmetry.

  13. STATISTICAL CHARACTERISTICS INVESTIGATION OF PREDICTION ERRORS FOR INTERFEROMETRIC SIGNAL IN THE ALGORITHM OF NONLINEAR KALMAN FILTERING

    Directory of Open Access Journals (Sweden)

    E. L. Dmitrieva

    2016-05-01

    Full Text Available Basic peculiarities of nonlinear Kalman filtering algorithm applied to processing of interferometric signals are considered. Analytical estimates determining statistical characteristics of signal values prediction errors were obtained and analysis of errors histograms taking into account variations of different parameters of interferometric signal was carried out. Modeling of the signal prediction procedure with known fixed parameters and variable parameters of signal in the algorithm of nonlinear Kalman filtering was performed. Numerical estimates of prediction errors for interferometric signal values were obtained by formation and analysis of the errors histograms under the influence of additive noise and random variations of amplitude and frequency of interferometric signal. Nonlinear Kalman filter is shown to provide processing of signals with randomly variable parameters, however, it does not take into account directly the linearization error of harmonic function representing interferometric signal that is a filtering error source. The main drawback of the linear prediction consists in non-Gaussian statistics of prediction errors including cases of random deviations of signal amplitude and/or frequency. When implementing stochastic filtering of interferometric signals, it is reasonable to use prediction procedures based on local statistics of a signal and its parameters taken into account.

  14. Interaction of Lyapunov vectors in the formulation of the nonlinear extension of the Kalman filter.

    Science.gov (United States)

    Palatella, Luigi; Trevisan, Anna

    2015-04-01

    When applied to strongly nonlinear chaotic dynamics the extended Kalman filter (EKF) is prone to divergence due to the difficulty of correctly forecasting the forecast error probability density function. In operational forecasting applications ensemble Kalman filters circumvent this problem with empirical procedures such as covariance inflation. This paper presents an extension of the EKF that includes nonlinear terms in the evolution of the forecast error estimate. This is achieved starting from a particular square-root implementation of the EKF with assimilation confined in the unstable subspace (EKF-AUS), that is, the span of the Lyapunov vectors with non-negative exponents. When the error evolution is nonlinear, the space where it is confined is no more restricted to the unstable and neutral subspace causing filter divergence. The algorithm presented here, denominated EKF-AUS-NL, includes the nonlinear terms in the error dynamics: These result from the nonlinear interaction among the leading Lyapunov vectors and account for all directions where the error growth may take place. Numerical results show that with the nonlinear terms included, filter divergence can be avoided. We test the algorithm on the Lorenz96 model, showing very promising results.

  15. Nonlinear wave propagation in constrained solids subjected to thermal loads

    Science.gov (United States)

    Nucera, Claudio; Lanza di Scalea, Francesco

    2014-01-01

    The classical mathematical treatment governing nonlinear wave propagation in solids relies on finite strain theory. In this scenario, a system of nonlinear partial differential equations can be derived to mathematically describe nonlinear phenomena such as acoustoelasticity (wave speed dependency on quasi-static stress), wave interaction, wave distortion, and higher-harmonic generation. The present work expands the topic of nonlinear wave propagation to the case of a constrained solid subjected to thermal loads. The origin of nonlinear effects in this case is explained on the basis of the anharmonicity of interatomic potentials, and the absorption of the potential energy corresponding to the (prevented) thermal expansion. Such "residual" energy is, at least, cubic as a function of strain, hence leading to a nonlinear wave equation and higher-harmonic generation. Closed-form solutions are given for the longitudinal wave speed and the second-harmonic nonlinear parameter as a function of interatomic potential parameters and temperature increase. The model predicts a decrease in longitudinal wave speed and a corresponding increase in nonlinear parameter with increasing temperature, as a result of the thermal stresses caused by the prevented thermal expansion of the solid. Experimental measurements of the ultrasonic nonlinear parameter on a steel block under constrained thermal expansion confirm this trend. These results suggest the potential of a nonlinear ultrasonic measurement to quantify thermal stresses from prevented thermal expansion. This knowledge can be extremely useful to prevent thermal buckling of various structures, such as continuous-welded rails in hot weather.

  16. Neural network-aided variational Bayesian adaptive cubature Kalman filtering for nonlinear state estimation

    Science.gov (United States)

    Miao, Zhiyong; Shi, Hongyang; Zhang, Yi; Xu, Fan

    2017-10-01

    In this paper, a new variational Bayesian adaptive cubature Kalman filter (VBACKF) is proposed for nonlinear state estimation. Although the conventional VBACKF performs better than cubature Kalman filtering (CKF) in solving nonlinear systems with time-varying measurement noise, its performance may degrade due to the uncertainty of the system model. To overcome this drawback, a multilayer feed-forward neural network (MFNN) is used to aid the conventional VBACKF, generalizing it to attain higher estimation accuracy and robustness. In the proposed neural-network-aided variational Bayesian adaptive cubature Kalman filter (NN-VBACKF), the MFNN is used to turn the state estimation of the VBACKF adaptively, and it is used for both state estimation and in the online training paradigm simultaneously. To evaluate the performance of the proposed method, it is compared with CKF and VBACKF via target tracking problems. The simulation results demonstrate that the estimation accuracy and robustness of the proposed method are better than those of the CKF and VBACKF.

  17. Identification of parameters in nonlinear geotechnical models using extenden Kalman filter

    Directory of Open Access Journals (Sweden)

    Nestorović Tamara

    2014-01-01

    Full Text Available Direct measurement of relevant system parameters often represents a problem due to different limitations. In geomechanics, measurement of geotechnical material constants which constitute a material model is usually a very diffcult task even with modern test equipment. Back-analysis has proved to be a more effcient and more economic method for identifying material constants because it needs measurement data such as settlements, pore pressures, etc., which are directly measurable, as inputs. Among many model parameter identification methods, the Kalman filter method has been applied very effectively in recent years. In this paper, the extended Kalman filter – local iteration procedure incorporated with finite element analysis (FEA software has been implemented. In order to prove the effciency of the method, parameter identification has been performed for a nonlinear geotechnical model.

  18. A Composite Algorithm for Mixed Integer Constrained Nonlinear Optimization.

    Science.gov (United States)

    1980-01-01

    algorithm (FLEX) developed by Paviani and Himmelblau [53] is a direct search algorithm for constrained, nonlinear problems. It uses a variation on the...given in an appendix to Himmelblau [32]. Two changes were made to the program as listed in the rcference. Between card number 1340 and 1350 the...1972, pp. 293-308 (32] Himmelblau , D. M., Applied Nonlinear Programming, McGraw-Hill, 1972 (33] Himmelblau , D. M., "A Uniform Evaluation of Unconstrained

  19. Nonlinear algebraic multigrid for constrained solid mechanics problems using Trilinos

    OpenAIRE

    Gee, M.W.; R. S. Tuminaro

    2012-01-01

    The application of the finite element method to nonlinear solid mechanics problems results in the neccessity to repeatedly solve a large nonlinear set of equations. In this paper we limit ourself to problems arising in constrained solid mechanics problems. It is common to apply some variant of Newton?s method or a Newton? Krylov method to such problems. Often, an analytic Jacobian matrix is formed and used in the above mentioned methods. However, if no analytic Jacobian is given, Newton metho...

  20. Constrained tracking control for nonlinear systems.

    Science.gov (United States)

    Khani, Fatemeh; Haeri, Mohammad

    2017-09-01

    This paper proposes a tracking control strategy for nonlinear systems without needing a prior knowledge of the reference trajectory. The proposed method consists of a set of local controllers with appropriate overlaps in their stability regions and an on-line switching strategy which implements these controllers and uses some augmented intermediate controllers to ensure steering the system states to the desired set points without needing to redesign the controller for each value of set point changes. The proposed approach provides smooth transient responses despite switching among the local controllers. It should be mentioned that the stability regions of the proposed controllers could be estimated off-line for a range of set-point changes. The efficiencies of the proposed algorithm are illustrated via two example simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  1. A novel strong tracking finite-difference extended Kalman filter for nonlinear eye tracking

    Institute of Scientific and Technical Information of China (English)

    ZHANG ZuTao; ZHANG JiaShu

    2009-01-01

    Non-Intrusive methods for eye tracking are Important for many applications of vision-based human computer interaction. However, due to the high nonlinearity of eye motion, how to ensure the robust-ness of external interference and accuracy of eye tracking poses the primary obstacle to the integration of eye movements into today's interfaces. In this paper, we present a strong tracking finite-difference extended Kalman filter algorithm, aiming to overcome the difficulty In modeling nonlinear eye tracking. In filtering calculation, strong tracking factor is introduced to modify a priori covariance matrix and im-prove the accuracy of the filter. The filter uses finite-difference method to calculate partial derivatives of nonlinear functions for eye tracking. The latest experimental results show the validity of our method for eye tracking under realistic conditions.

  2. A new approach to nonlinear constrained Tikhonov regularization

    KAUST Repository

    Ito, Kazufumi

    2011-09-16

    We present a novel approach to nonlinear constrained Tikhonov regularization from the viewpoint of optimization theory. A second-order sufficient optimality condition is suggested as a nonlinearity condition to handle the nonlinearity of the forward operator. The approach is exploited to derive convergence rate results for a priori as well as a posteriori choice rules, e.g., discrepancy principle and balancing principle, for selecting the regularization parameter. The idea is further illustrated on a general class of parameter identification problems, for which (new) source and nonlinearity conditions are derived and the structural property of the nonlinearity term is revealed. A number of examples including identifying distributed parameters in elliptic differential equations are presented. © 2011 IOP Publishing Ltd.

  3. Penalized Ensemble Kalman Filters for High Dimensional Non-linear Systems

    CERN Document Server

    Hou, Elizabeth; Hero, Alfred O

    2016-01-01

    The ensemble Kalman filter (EnKF) is a data assimilation technique that uses an ensemble of models, updated with data, to track the time evolution of a non-linear system. It does so by using an empirical approximation to the well-known Kalman filter. Unfortunately, its performance suffers when the ensemble size is smaller than the state space, as is often the case for computationally burdensome models. This scenario means that the empirical estimate of the state covariance is not full rank and possibly quite noisy. To solve this problem in this high dimensional regime, a computationally fast and easy to implement algorithm called the penalized ensemble Kalman filter (PEnKF) is proposed. Under certain conditions, it can be proved that the PEnKF does not require more ensemble members than state dimensions in order to have good performance. Further, the proposed approach does not require special knowledge of the system such as is used by localization methods. These theoretical results are supported with superior...

  4. Non-linear DSGE Models and The Central Difference Kalman Filter

    DEFF Research Database (Denmark)

    Andreasen, Martin Møller

    solved up to third order. A Monte Carlo study shows that this QML estimator is basically unbiased and normally distributed infi…nite samples for DSGE models solved using a second order or a third order approximation. These results hold even when structural shocks are Gaussian, Laplace distributed......This paper introduces a Quasi Maximum Likelihood (QML) approach based on the Cen- tral Difference Kalman Filter (CDKF) to estimate non-linear DSGE models with potentially non-Gaussian shocks. We argue that this estimator can be expected to be consistent and asymptotically normal for DSGE models...

  5. Sensor and Actuator Fault Detection and Isolation in Nonlinear System using Multi Model Adaptive Linear Kalman Filter

    Directory of Open Access Journals (Sweden)

    M. Manimozhi

    2014-05-01

    Full Text Available Fault Detection and Isolation (FDI using Linear Kalman Filter (LKF is not sufficient for effective monitoring of nonlinear processes. Most of the chemical plants are nonlinear in nature while operating the plant in a wide range of process variables. In this study we present an approach for designing of Multi Model Adaptive Linear Kalman Filter (MMALKF for Fault Detection and Isolation (FDI of a nonlinear system. The uses a bank of adaptive Kalman filter, with each model based on different fault hypothesis. In this study the effectiveness of the MMALKF has been demonstrated on a spherical tank system. The proposed method is detecting and isolating the sensor and actuator soft faults which occur sequentially or simultaneously.

  6. Extended kalman filter for estimation of parameters in nonlinear state-space models of biochemical networks.

    Science.gov (United States)

    Sun, Xiaodian; Jin, Li; Xiong, Momiao

    2008-01-01

    It is system dynamics that determines the function of cells, tissues and organisms. To develop mathematical models and estimate their parameters are an essential issue for studying dynamic behaviors of biological systems which include metabolic networks, genetic regulatory networks and signal transduction pathways, under perturbation of external stimuli. In general, biological dynamic systems are partially observed. Therefore, a natural way to model dynamic biological systems is to employ nonlinear state-space equations. Although statistical methods for parameter estimation of linear models in biological dynamic systems have been developed intensively in the recent years, the estimation of both states and parameters of nonlinear dynamic systems remains a challenging task. In this report, we apply extended Kalman Filter (EKF) to the estimation of both states and parameters of nonlinear state-space models. To evaluate the performance of the EKF for parameter estimation, we apply the EKF to a simulation dataset and two real datasets: JAK-STAT signal transduction pathway and Ras/Raf/MEK/ERK signaling transduction pathways datasets. The preliminary results show that EKF can accurately estimate the parameters and predict states in nonlinear state-space equations for modeling dynamic biochemical networks.

  7. A New Adaptive Square-Root Unscented Kalman Filter for Nonlinear Systems with Additive Noise

    Directory of Open Access Journals (Sweden)

    Yong Zhou

    2015-01-01

    Full Text Available The Kalman filter (KF, extended KF, and unscented KF all lack a self-adaptive capacity to deal with system noise. This paper describes a new adaptive filtering approach for nonlinear systems with additive noise. Based on the square-root unscented KF (SRUKF, traditional Maybeck’s estimator is modified and extended to nonlinear systems. The square root of the process noise covariance matrix Q or that of the measurement noise covariance matrix R is estimated straightforwardly. Because positive semidefiniteness of Q or R is guaranteed, several shortcomings of traditional Maybeck’s algorithm are overcome. Thus, the stability and accuracy of the filter are greatly improved. In addition, based on three different nonlinear systems, a new adaptive filtering technique is described in detail. Specifically, simulation results are presented, where the new filter was applied to a highly nonlinear model (i.e., the univariate nonstationary growth model (UNGM. The UNGM is compared with the standard SRUKF to demonstrate its superior filtering performance. The adaptive SRUKF (ASRUKF algorithm can complete direct recursion and calculate the square roots of the variance matrixes of the system state and noise, which ensures the symmetry and nonnegative definiteness of the matrixes and greatly improves the accuracy, stability, and self-adaptability of the filter.

  8. Detection of broken rotor bars in induction motors using nonlinear Kalman filters.

    Science.gov (United States)

    Karami, Farzaneh; Poshtan, Javad; Poshtan, Majid

    2010-04-01

    This paper presents a model-based fault detection approach for induction motors. A new filtering technique using Unscented Kalman Filter (UKF) and Extended Kalman Filter (EKF) is utilized as a state estimation tool for on-line detection of broken bars in induction motors based on rotor parameter value estimation from stator current and voltage processing. The hypothesis on which the detection is based is that the failure events are detected by jumps in the estimated parameter values of the model. Both UKF and EKF are used to estimate the value of rotor resistance. Upon breaking a bar the estimated rotor resistance is increased instantly, thus providing two values of resistance after and before bar breakage. In order to compare the estimation performance of the EKF and UKF, both observers are designed for the same motor model and run with the same covariance matrices under the same conditions. Computer simulations are carried out for a squirrel cage induction motor. The results show the superiority of UKF over EKF in nonlinear system (such as induction motors) as it provides better estimates for rotor fault detection.

  9. Non-linear feedback control of the p53 protein-mdm2 inhibitor system using the derivative-free non-linear Kalman filter.

    Science.gov (United States)

    Rigatos, Gerasimos G

    2016-06-01

    It is proven that the model of the p53-mdm2 protein synthesis loop is a differentially flat one and using a diffeomorphism (change of state variables) that is proposed by differential flatness theory it is shown that the protein synthesis model can be transformed into the canonical (Brunovsky) form. This enables the design of a feedback control law that maintains the concentration of the p53 protein at the desirable levels. To estimate the non-measurable elements of the state vector describing the p53-mdm2 system dynamics, the derivative-free non-linear Kalman filter is used. Moreover, to compensate for modelling uncertainties and external disturbances that affect the p53-mdm2 system, the derivative-free non-linear Kalman filter is re-designed as a disturbance observer. The derivative-free non-linear Kalman filter consists of the Kalman filter recursion applied on the linearised equivalent of the protein synthesis model together with an inverse transformation based on differential flatness theory that enables to retrieve estimates for the state variables of the initial non-linear model. The proposed non-linear feedback control and perturbations compensation method for the p53-mdm2 system can result in more efficient chemotherapy schemes where the infusion of medication will be better administered.

  10. Weighted Optimization-Based Distributed Kalman Filter for Nonlinear Target Tracking in Collaborative Sensor Networks.

    Science.gov (United States)

    Chen, Jie; Li, Jiahong; Yang, Shuanghua; Deng, Fang

    2016-07-21

    The identification of the nonlinearity and coupling is crucial in nonlinear target tracking problem in collaborative sensor networks. According to the adaptive Kalman filtering (KF) method, the nonlinearity and coupling can be regarded as the model noise covariance, and estimated by minimizing the innovation or residual errors of the states. However, the method requires large time window of data to achieve reliable covariance measurement, making it impractical for nonlinear systems which are rapidly changing. To deal with the problem, a weighted optimization-based distributed KF algorithm (WODKF) is proposed in this paper. The algorithm enlarges the data size of each sensor by the received measurements and state estimates from its connected sensors instead of the time window. A new cost function is set as the weighted sum of the bias and oscillation of the state to estimate the "best" estimate of the model noise covariance. The bias and oscillation of the state of each sensor are estimated by polynomial fitting a time window of state estimates and measurements of the sensor and its neighbors weighted by the measurement noise covariance. The best estimate of the model noise covariance is computed by minimizing the weighted cost function using the exhaustive method. The sensor selection method is in addition to the algorithm to decrease the computation load of the filter and increase the scalability of the sensor network. The existence, suboptimality and stability analysis of the algorithm are given. The local probability data association method is used in the proposed algorithm for the multitarget tracking case. The algorithm is demonstrated in simulations on tracking examples for a random signal, one nonlinear target, and four nonlinear targets. Results show the feasibility and superiority of WODKF against other filtering algorithms for a large class of systems.

  11. Decentralized neural identifier and control for nonlinear systems based on extended Kalman filter.

    Science.gov (United States)

    Castañeda, Carlos E; Esquivel, P

    2012-07-01

    A time-varying learning algorithm for recurrent high order neural network in order to identify and control nonlinear systems which integrates the use of a statistical framework is proposed. The learning algorithm is based in the extended Kalman filter, where the associated state and measurement noises covariance matrices are composed by the coupled variance between the plant states. The formulation allows identification of interactions associate between plant state and the neural convergence. Furthermore, a sliding window-based method for dynamical modeling of nonstationary systems is presented to improve the neural identification in the proposed methodology. The efficiency and accuracy of the proposed method is assessed to a five degree of freedom (DOF) robot manipulator where based on the time-varying neural identifier model, the decentralized discrete-time block control and sliding mode techniques are used to design independent controllers and develop the trajectory tracking for each DOF.

  12. Ensemble Kalman Filtering with Residual Nudging: An Extension to State Estimation Problems with Nonlinear Observation Operators

    KAUST Repository

    Luo, Xiaodong

    2014-10-01

    The ensemble Kalman filter (EnKF) is an efficient algorithm for many data assimilation problems. In certain circumstances, however, divergence of the EnKF might be spotted. In previous studies, the authors proposed an observation-space-based strategy, called residual nudging, to improve the stability of the EnKF when dealing with linear observation operators. The main idea behind residual nudging is to monitor and, if necessary, adjust the distances (misfits) between the real observations and the simulated ones of the state estimates, in the hope that by doing so one may be able to obtain better estimation accuracy. In the present study, residual nudging is extended and modified in order to handle nonlinear observation operators. Such extension and modification result in an iterative filtering framework that, under suitable conditions, is able to achieve the objective of residual nudging for data assimilation problems with nonlinear observation operators. The 40-dimensional Lorenz-96 model is used to illustrate the performance of the iterative filter. Numerical results show that, while a normal EnKF may diverge with nonlinear observation operators, the proposed iterative filter remains stable and leads to reasonable estimation accuracy under various experimental settings.

  13. Penalized interior point approach for constrained nonlinear programming

    Institute of Scientific and Technical Information of China (English)

    LU Wen-ting; YAO Yi-rong; ZHANG Lian-sheng

    2009-01-01

    A penalized interior point approach for constrained nonlinear programming is examined in this work. To overcome the difficulty of initialization for the interior point method, a problem equivalent to the primal problem via incorporating an auxiliary variable is constructed. A combined approach of logarithm barrier and quadratic penalty function is proposed to solve the problem. Based on Newton's method, the global convergence of interior point and line search algorithm is proven.Only a finite number of iterations is required to reach an approximate optimal solution. Numerical tests are given to show the effectiveness of the method.

  14. An Algorithm for Linearly Constrained Nonlinear Programming Programming Problems.

    Science.gov (United States)

    1980-01-01

    ALGORITHM FOR LINEARLY CONSTRAINED NONLINEAR PROGRAMMING PROBLEMS Mokhtar S. Bazaraa and Jamie J. Goode In this paper an algorithm for solving a linearly...distance pro- gramr.ing, as in the works of Bazaraa and Goode 12], and Wolfe [16 can be used for solving this problem. Special methods that take advantage of...34 Pacific Journal of Mathematics, Volume 16, pp. 1-3, 1966. 2. M. S. Bazaraa and J. j. Goode, "An Algorithm for Finding the Shortest Element of a

  15. Detection of parametric changes in the Peyrard-Bishop- Dauxois model of DNA using nonlinear Kalman filtering.

    Science.gov (United States)

    Rigatos, G; Rigatou, E; Djida, J D

    2015-01-01

    The derivative-free nonlinear Kalman filter is proposed for state estimation and fault diagnosis in distributed parameter systems of the wave-type and particularly in the Peyrard-Bishop-Dauxois model of DNA dynamics. At a first stage, a nonlinear filtering approach is introduced for estimating the dynamics of the Peyrard-Bishop-Dauxois 1D nonlinear wave equation, through the processing of a small number of measurements. It is shown that the numerical solution of the associated partial differential equation results in a set of nonlinear ordinary differential equations. With the application of a diffeomorphism that is based on differential flatness theory it is shown that an equivalent description of the system is obtained in the linear canonical (Brunovsky) form. This transformation enables to obtain local estimates about the state vector of the DNA model through the application us of the standard Kalman filter recursion. At a second stage, the local statistical approach to fault diagnosis is used to perform fault diagnosis for this distributed parameter system by processing with statistical tools the differences (residuals) between the output of the Kalman filter and the measurements obtained from the distributed parameter system. Optimal selection of the fault threshold is succeeded by using the local statistical approach to fault diagnosis. The efficiency of the proposed filtering approach in the problem of fault diagnosis for parametric change detection, in nonlinear wave-type models of DNA dynamics, is confirmed through simulation experiments.

  16. Target tracking by distributed autonomous vessels using the derivative-free nonlinear Kalman filter

    Science.gov (United States)

    Rigatos, Gerasimos; Siano, Pierluigi; Raffo, Guilerme

    2015-12-01

    In this paper a distributed control problem for unmanned surface vessels (USVs) is formulated as follows: there are N USVs which pursue another vessel (moving target). At each time instant each USV can obtain measurements of the target's cartesian coordinates. The objective is to make the USVs converge in a synchronized manner towards the target, while avoiding collisions between them and avoiding collisions with obstacles in their motion plane. A distributed control law is developed for the USVs which enables not only convergence of the USVs to the goal position, but also makes possible to maintain the cohesion of the USVs fleet. Moreover, distributed filtering is performed, so as to obtain an estimate of the target vessel's state vector. This provides the desirable state vector to be tracked by each one of the USVs. To this end, a new distributed nonlinear filtering method of improved accuracy and computation speed is introduced. This filtering approach, under the name Derivative-free distributed nonlinear Kalman Filter is based on differential flatness theory and on an exact linearization of the target vessel's dynamic/kinematic model.

  17. A constrained extended Kalman filter for the optimal estimate of kinematics and kinetics of a sagittal symmetric exercise.

    Science.gov (United States)

    Bonnet, V; Dumas, R; Cappozzo, A; Joukov, V; Daune, G; Kulić, D; Fraisse, P; Andary, S; Venture, G

    2016-12-29

    This paper presents a method for real-time estimation of the kinematics and kinetics of a human body performing a sagittal symmetric motor task, which would minimize the impact of the stereophotogrammetric soft tissue artefacts (STA). The method is based on a bi-dimensional mechanical model of the locomotor apparatus the state variables of which (joint angles, velocities and accelerations, and the segments lengths and inertial parameters) are estimated by a constrained extended Kalman filter (CEKF) that fuses input information made of both stereophotogrammetric and dynamometric measurement data. Filter gains are made to saturate in order to obtain plausible state variables and the measurement covariance matrix of the filter accounts for the expected STA maximal amplitudes. We hypothesised that the ensemble of constraints and input redundant information would allow the method to attenuate the STA propagation to the end results. The method was evaluated in ten human subjects performing a squat exercise. The CEKF estimated and measured skin marker trajectories exhibited a RMS difference lower than 4mm, thus in the range of STAs. The RMS differences between the measured ground reaction force and moment and those estimated using the proposed method (9N and 10Nm) were much lower than obtained using a classical inverse dynamics approach (22N and 30Nm). From the latter results it may be inferred that the presented method allows for a significant improvement of the accuracy with which kinematic variables and relevant time derivatives, model parameters and, therefore, intersegmental moments are estimated.

  18. Developments in non-linear Kalman Ensemble and Particle Filtering techniques for hydrological data assimilation

    Science.gov (United States)

    Khaki, Mehdi; Forootan, Ehsan; Kuhn, Michael; Awange, Joseph; Pattiaratchi, Charitha

    2016-04-01

    Quantifying large-scale (basin/global) water storage changes is essential to understand the Earth's hydrological water cycle. Hydrological models have usually been used to simulate variations in storage compartments resulting from changes in water fluxes (i.e., precipitation, evapotranspiration and runoff) considering physical or conceptual frameworks. Models however represent limited skills in accurately simulating the storage compartments that could be the result of e.g., the uncertainty of forcing parameters, model structure, etc. In this regards, data assimilation provides a great chance to combine observational data with a prior forecast state to improve both the accuracy of model parameters and to improve the estimation of model states at the same time. Various methods exist that can be used to perform data assimilation into hydrological models. The one more frequently used particle-based algorithms suitable for non-linear systems high-dimensional systems is the Ensemble Kalman Filtering (EnKF). Despite efficiency and simplicity (especially in EnKF), this method indicate some drawbacks. To implement EnKF, one should use the sample covariance of observations and model state variables to update a priori estimates of the state variables. The sample covariance can be suboptimal as a result of small ensemble size, model errors, model nonlinearity, and other factors. Small ensemble can also lead to the development of correlations between state components that are at a significant distance from one another where there is no physical relation. To investigate the under-sampling issue raise by EnKF, covariance inflation technique in conjunction with localization was implemented. In this study, a comparison between latest methods used in the data assimilation framework, to overcome the mentioned problem, is performed. For this, in addition to implementing EnKF, we introduce and apply the Local Ensemble Kalman Filter (LEnKF) utilizing covariance localization to remove

  19. Stabilizing model predictive control for constrained nonlinear distributed delay systems.

    Science.gov (United States)

    Mahboobi Esfanjani, R; Nikravesh, S K Y

    2011-04-01

    In this paper, a model predictive control scheme with guaranteed closed-loop asymptotic stability is proposed for a class of constrained nonlinear time-delay systems with discrete and distributed delays. A suitable terminal cost functional and also an appropriate terminal region are utilized to achieve asymptotic stability. To determine the terminal cost, a locally asymptotically stabilizing controller is designed and an appropriate Lyapunov-Krasoskii functional of the locally stabilized system is employed as the terminal cost. Furthermore, an invariant set for locally stabilized system which is established by using the Razumikhin Theorem is used as the terminal region. Simple conditions are derived to obtain terminal cost and terminal region in terms of Bilinear Matrix Inequalities. The method is illustrated by a numerical example.

  20. Tracking human position and lower body parts using Kalman and particle filters constrained by human biomechanics.

    Science.gov (United States)

    Martinez del Rincon, Jesús; Makris, Dimitrios; Orrite Urunuela, Carlos; Nebel, Jean-Christophe

    2011-02-01

    In this paper, a novel framework for visual tracking of human body parts is introduced. The approach presented demonstrates the feasibility of recovering human poses with data from a single uncalibrated camera by using a limb-tracking system based on a 2-D articulated model and a double-tracking strategy. Its key contribution is that the 2-D model is only constrained by biomechanical knowledge about human bipedal motion, instead of relying on constraints that are linked to a specific activity or camera view. These characteristics make our approach suitable for real visual surveillance applications. Experiments on a set of indoor and outdoor sequences demonstrate the effectiveness of our method on tracking human lower body parts. Moreover, a detail comparison with current tracking methods is presented.

  1. Weak constrained localized ensemble transform Kalman filter for radar data assimilation

    Science.gov (United States)

    Janjic, Tijana; Lange, Heiner

    2015-04-01

    The applications on convective scales require data assimilation with a numerical model with single digit horizontal resolution in km and time evolving error covariances. The ensemble Kalman filter (EnKF) algorithm incorporates these two requirements. However, some challenges for the convective scale applications remain unresolved when using the EnKF approach. These include a need on convective scale to estimate fields that are nonnegative (as rain, graupel, snow) and use of data sets as radar reflectivity or cloud products that have the same property. What underlines these examples are errors that are non-Gaussian in nature causing a problem with EnKF, which uses Gaussian error assumptions to produce the estimates from the previous forecast and the incoming data. Since the proper estimates of hydrometeors are crucial for prediction on convective scales, question arises whether EnKF method can be modified to improve these estimates and whether there is a way of optimizing use of radar observations to initialize NWP models due to importance of this data set for prediction of connective storms. In order to deal with non-Gaussian errors different approaches can be taken in the EnKF framework. For example, variables can be transformed by assuming the relevant state variables follow an appropriate pre-specified non-Gaussian distribution, such as the lognormal and truncated Gaussian distribution or, more generally, by carrying out a parameterized change of state variables known as Gaussian anamorphosis. In a recent work by Janjic et al. 2014, it was shown on a simple example how conservation of mass could be beneficial for assimilation of positive variables. The method developed in the paper outperformed the EnKF as well as the EnKF with the lognormal change of variables. As argued in the paper the reason for this, is that each of these methods preserves mass (EnKF) or positivity (lognormal EnKF) but not both. Only once both positivity and mass were preserved in a new

  2. Improving the ensemble transform Kalman filter using a second-order Taylor approximation of the nonlinear observation operator

    Directory of Open Access Journals (Sweden)

    G. Wu

    2014-04-01

    Full Text Available The Ensemble Transform Kalman Filter (ETKF assimilation scheme has recently seen rapid development and wide application. As a specific implementation of the Ensemble Kalman Filter (EnKF, the ETKF is computationally more efficient than the conventional EnKF. However, the current implementation of the ETKF still has some limitations when the observation operator is strongly nonlinear. One problem is that the nonlinear operator and its tangent-linear operator are iteratively calculated in the minimization of a nonlinear objective function similar to 4DVAR, which may be computationally expensive. Another problem is that it uses the tangent-linear approximation of the observation operator to estimate the multiplicative inflation factor of the forecast errors, which may not be sufficiently accurate. This study seeks a way to avoid these problems. First, we apply the second-order Taylor approximation of the nonlinear observation operator to avoid iteratively calculating the operator and its tangent-linear operator. The related computational cost is also discussed. Second, we propose a scheme to estimate the inflation factor when the observation operator is strongly nonlinear. Experimentation with the Lorenz-96 model shows that using the second-order Taylor approximation of the nonlinear observation operator leads to a reduction of the analysis error compared with the traditional linear approximation. Similarly, the proposed inflation scheme leads to a reduction of the analysis error compared with the procedure using the traditional inflation scheme.

  3. A Kalman Filtering and Nonlinear Penalty Regression Approach for Noninvasive Anemia Detection with Palpebral Conjunctiva Images

    Directory of Open Access Journals (Sweden)

    Yi-Ming Chen

    2017-01-01

    Full Text Available Noninvasive medical procedures are usually preferable to their invasive counterparts in the medical community. Anemia examining through the palpebral conjunctiva is a convenient noninvasive procedure. The procedure can be automated to reduce the medical cost. We propose an anemia examining approach by using a Kalman filter (KF and a regression method. The traditional KF is often used in time-dependent applications. Here, we modified the traditional KF for the time-independent data in medical applications. We simply compute the mean value of the red component of the palpebral conjunctiva image as our recognition feature and use a penalty regression algorithm to find a nonlinear curve that best fits the data of feature values and the corresponding levels of hemoglobin (Hb concentration. To evaluate the proposed approach and several relevant approaches, we propose a risk evaluation scheme, where the entire Hb spectrum is divided into high-risk, low-risk, and doubtful intervals for anemia. The doubtful interval contains the Hb threshold, say 11 g/dL, separating anemia and nonanemia. A suspect sample is the sample falling in the doubtful interval. For the anemia screening purpose, we would like to have as less suspect samples as possible. The experimental results show that the modified KF reduces the number of suspect samples significantly for all the approaches considered here.

  4. A New Kind of Simple Smooth Exact Penalty Function of Constrained Nonlinear Programming

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The penalty function method is one basic method for solving constrained nonlinear programming, in which simple smooth exact penalty functions draw much attention for their simpleness and smoothness. This article offers a new kind of simple smooth approximative exact penalty function of general constrained nonlinear programmings and analyzes its properties.

  5. Nonlinearly-constrained optimization using asynchronous parallel generating set search.

    Energy Technology Data Exchange (ETDEWEB)

    Griffin, Joshua D.; Kolda, Tamara Gibson

    2007-05-01

    Many optimization problems in computational science and engineering (CS&E) are characterized by expensive objective and/or constraint function evaluations paired with a lack of derivative information. Direct search methods such as generating set search (GSS) are well understood and efficient for derivative-free optimization of unconstrained and linearly-constrained problems. This paper addresses the more difficult problem of general nonlinear programming where derivatives for objective or constraint functions are unavailable, which is the case for many CS&E applications. We focus on penalty methods that use GSS to solve the linearly-constrained problems, comparing different penalty functions. A classical choice for penalizing constraint violations is {ell}{sub 2}{sup 2}, the squared {ell}{sub 2} norm, which has advantages for derivative-based optimization methods. In our numerical tests, however, we show that exact penalty functions based on the {ell}{sub 1}, {ell}{sub 2}, and {ell}{sub {infinity}} norms converge to good approximate solutions more quickly and thus are attractive alternatives. Unfortunately, exact penalty functions are discontinuous and consequently introduce theoretical problems that degrade the final solution accuracy, so we also consider smoothed variants. Smoothed-exact penalty functions are theoretically attractive because they retain the differentiability of the original problem. Numerically, they are a compromise between exact and {ell}{sub 2}{sup 2}, i.e., they converge to a good solution somewhat quickly without sacrificing much solution accuracy. Moreover, the smoothing is parameterized and can potentially be adjusted to balance the two considerations. Since many CS&E optimization problems are characterized by expensive function evaluations, reducing the number of function evaluations is paramount, and the results of this paper show that exact and smoothed-exact penalty functions are well-suited to this task.

  6. A new SQP algorithm and numerical experiments for nonlinear inequality constrained optimization problem

    Directory of Open Access Journals (Sweden)

    Mahdi Sohrabi-Haghighat

    2014-06-01

    Full Text Available In this paper, a new algorithm based on SQP method is presented to solve the nonlinear inequality constrained optimization problem. As compared with the other existing SQP methods, per single iteration, the basic feasible descent direction is computed by solving at most two equality constrained quadratic programming. Furthermore, there is no need for any auxiliary problem to obtain the coefficients and update the parameters. Under some suitable conditions, the global and superlinear convergence are shown. Keywords: Global convergence, Inequality constrained optimization, Nonlinear programming problem, SQP method, Superlinear convergence rate.

  7. Cross-constrained problems for nonlinear Schrodinger equation with harmonic potential

    Directory of Open Access Journals (Sweden)

    Runzhang Xu

    2012-11-01

    Full Text Available This article studies a nonlinear Schodinger equation with harmonic potential by constructing different cross-constrained problems. By comparing the different cross-constrained problems, we derive different sharp criterion and different invariant manifolds that separate the global solutions and blowup solutions. Moreover, we conclude that some manifolds are empty due to the essence of the cross-constrained problems. Besides, we compare the three cross-constrained problems and the three depths of the potential wells. In this way, we explain the gaps in [J. Shu and J. Zhang, Nonlinear Shrodinger equation with harmonic potential, Journal of Mathematical Physics, 47, 063503 (2006], which was pointed out in [R. Xu and Y. Liu, Remarks on nonlinear Schrodinger equation with harmonic potential, Journal of Mathematical Physics, 49, 043512 (2008].

  8. Bds/gps Integrated Positioning Method Research Based on Nonlinear Kalman Filtering

    Science.gov (United States)

    Ma, Y.; Yuan, W.; Sun, H.

    2017-09-01

    In order to realize fast and accurate BDS/GPS integrated positioning, it is necessary to overcome the adverse effects of signal attenuation, multipath effect and echo interference to ensure the result of continuous and accurate navigation and positioning. In this paper, pseudo-range positioning is used as the mathematical model. In the stage of data preprocessing, using precise and smooth carrier phase measurement value to promote the rough pseudo-range measurement value without ambiguity. At last, the Extended Kalman Filter(EKF), the Unscented Kalman Filter(UKF) and the Particle Filter(PF) algorithm are applied in the integrated positioning method for higher positioning accuracy. The experimental results show that the positioning accuracy of PF is the highest, and UKF is better than EKF.

  9. Applications of Kalman filters based on non-linear functions to numerical weather predictions

    Directory of Open Access Journals (Sweden)

    G. Galanis

    2006-10-01

    Full Text Available This paper investigates the use of non-linear functions in classical Kalman filter algorithms on the improvement of regional weather forecasts. The main aim is the implementation of non linear polynomial mappings in a usual linear Kalman filter in order to simulate better non linear problems in numerical weather prediction. In addition, the optimal order of the polynomials applied for such a filter is identified. This work is based on observations and corresponding numerical weather predictions of two meteorological parameters characterized by essential differences in their evolution in time, namely, air temperature and wind speed. It is shown that in both cases, a polynomial of low order is adequate for eliminating any systematic error, while higher order functions lead to instabilities in the filtered results having, at the same time, trivial contribution to the sensitivity of the filter. It is further demonstrated that the filter is independent of the time period and the geographic location of application.

  10. A TRUST-REGION ALGORITHM FOR NONLINEAR INEQUALITY CONSTRAINED OPTIMIZATION

    Institute of Scientific and Technical Information of China (English)

    Xiaojiao Tong; Shuzi Zhou

    2003-01-01

    This paper presents a new trust-region algorithm for n-dimension nonlinear optimization subject to m nonlinear inequality constraints. Equivalent KKT conditions are derived,which is the basis for constructing the new algorithm. Global convergence of the algorithm to a first-order KKT point is established under mild conditions on the trial steps, local quadratic convergence theorem is proved for nondegenerate minimizer point. Numerical experiment is presented to show the effectiveness of our approach.

  11. Using data-driven discrete-time models and the unscented Kalman filter to estimate unobserved variables of nonlinear systems

    Science.gov (United States)

    Aguirre, Luis Antonio; Teixeira, Bruno Otávio S.; Tôrres, Leonardo Antônio B.

    2005-08-01

    This paper addresses the problem of state estimation for nonlinear systems by means of the unscented Kalman filter (UKF). Compared to the traditional extended Kalman filter, the UKF does not require the local linearization of the system equations used in the propagation stage. Important results using the UKF have been reported recently but in every case the system equations used by the filter were considered known. Not only that, such models are usually considered to be differential equations, which requires that numerical integration be performed during the propagation phase of the filter. In this paper the dynamical equations of the system are taken to be difference equations—thus avoiding numerical integration—and are built from data without prior knowledge. The identified models are subsequently implemented in the filter in order to accomplish state estimation. The paper discusses the impact of not knowing the exact equations and using data-driven models in the context of state and joint state-and-parameter estimation. The procedure is illustrated by means of examples that use simulated and measured data.

  12. Estimating model error covariances in nonlinear state-space models using Kalman smoothing and the expectation-maximisation algorithm

    KAUST Repository

    Dreano, D.

    2017-04-05

    Specification and tuning of errors from dynamical models are important issues in data assimilation. In this work, we propose an iterative expectation-maximisation (EM) algorithm to estimate the model error covariances using classical extended and ensemble versions of the Kalman smoother. We show that, for additive model errors, the estimate of the error covariance converges. We also investigate other forms of model error, such as parametric or multiplicative errors. We show that additive Gaussian model error is able to compensate for non additive sources of error in the algorithms we propose. We also demonstrate the limitations of the extended version of the algorithm and recommend the use of the more robust and flexible ensemble version. This article is a proof of concept of the methodology with the Lorenz-63 attractor. We developed an open-source Python library to enable future users to apply the algorithm to their own nonlinear dynamical models.

  13. Nonlinear Modeling of Azimuth Error for 2D Car Navigation Using Parallel Cascade Identification Augmented with Kalman Filtering

    Directory of Open Access Journals (Sweden)

    Umar Iqbal

    2010-01-01

    Full Text Available Present land vehicle navigation relies mostly on the Global Positioning System (GPS that may be interrupted or deteriorated in urban areas. In order to obtain continuous positioning services in all environments, GPS can be integrated with inertial sensors and vehicle odometer using Kalman filtering (KF. For car navigation, low-cost positioning solutions based on MEMS-based inertial sensors are utilized. To further reduce the cost, a reduced inertial sensor system (RISS consisting of only one gyroscope and speed measurement (obtained from the car odometer is integrated with GPS. The MEMS-based gyroscope measurement deteriorates over time due to different errors like the bias drift. These errors may lead to large azimuth errors and mitigating the azimuth errors requires robust modeling of both linear and nonlinear effects. Therefore, this paper presents a solution based on Parallel Cascade Identification (PCI module that models the azimuth errors and is augmented to KF. The proposed augmented KF-PCI method can handle both linear and nonlinear system errors as the linear parts of the errors are modeled inside the KF and the nonlinear and residual parts of the azimuth errors are modeled by PCI. The performance of this method is examined using road test experiments in a land vehicle.

  14. Inference of nonlinear state-space models for sandwich-type lateral flow immunoassay using extended Kalman filtering.

    Science.gov (United States)

    Zeng, Nianyin; Wang, Zidong; Li, Yurong; Du, Min; Liu, Xiaohui

    2011-07-01

    In this paper, a mathematical model for sandwich-type lateral flow immunoassay is developed via short available time series. A nonlinear dynamic stochastic model is considered that consists of the biochemical reaction system equations and the observation equation. After specifying the model structure, we apply the extended Kalman filter (EKF) algorithm for identifying both the states and parameters of the nonlinear state-space model. It is shown that the EKF algorithm can accurately identify the parameters and also predict the system states in the nonlinear dynamic stochastic model through an iterative procedure by using a small number of observations. The identified mathematical model provides a powerful tool for testing the system hypotheses and also for inspecting the effects from various design parameters in both rapid and inexpensive way. Furthermore, by means of the established model, the dynamic changes in the concentration of antigens and antibodies can be predicted, thereby making it possible for us to analyze, optimize, and design the properties of lateral flow immunoassay devices. © 2011 IEEE

  15. Min-max model predictive control for constrained nonlinear systems via multiple LPV embeddings

    Institute of Scientific and Technical Information of China (English)

    ZHAO Min; LI Ning; LI ShaoYuan

    2009-01-01

    A min-max model predictive control strategy is proposed for a class of constrained nonlinear system whose trajectories can be embedded within those of a bank of linear parameter varying (LPV) models. The embedding LPV models can yield much better approximation of the nonlinear system dynamics than a single LTV model. For each LPV model, a parameter-dependent Lyapunov function is introduced to obtain poly-quadratically stable control law and to guarantee the feasibility and stability of the original nonlinear system. This approach can greatly reduce computational burden in traditional nonlinear predictive control strategy. Finally a simulation example illustrating the strategy is presented.

  16. ECG denoising and fiducial point extraction using an extended Kalman filtering framework with linear and nonlinear phase observations.

    Science.gov (United States)

    Akhbari, Mahsa; Shamsollahi, Mohammad B; Jutten, Christian; Armoundas, Antonis A; Sayadi, Omid

    2016-02-01

    In this paper we propose an efficient method for denoising and extracting fiducial point (FP) of ECG signals. The method is based on a nonlinear dynamic model which uses Gaussian functions to model ECG waveforms. For estimating the model parameters, we use an extended Kalman filter (EKF). In this framework called EKF25, all the parameters of Gaussian functions as well as the ECG waveforms (P-wave, QRS complex and T-wave) in the ECG dynamical model, are considered as state variables. In this paper, the dynamic time warping method is used to estimate the nonlinear ECG phase observation. We compare this new approach with linear phase observation models. Using linear and nonlinear EKF25 for ECG denoising and nonlinear EKF25 for fiducial point extraction and ECG interval analysis are the main contributions of this paper. Performance comparison with other EKF-based techniques shows that the proposed method results in higher output SNR with an average SNR improvement of 12 dB for an input SNR of -8 dB. To evaluate the FP extraction performance, we compare the proposed method with a method based on partially collapsed Gibbs sampler and an established EKF-based method. The mean absolute error and the root mean square error of all FPs, across all databases are 14 ms and 22 ms, respectively, for our proposed method, with an advantage when using a nonlinear phase observation. These errors are significantly smaller than errors obtained with other methods. For ECG interval analysis, with an absolute mean error and a root mean square error of about 22 ms and 29 ms, the proposed method achieves better accuracy and smaller variability with respect to other methods.

  17. Modified constrained differential evolution for solving nonlinear global optimization problems

    OpenAIRE

    2013-01-01

    Nonlinear optimization problems introduce the possibility of multiple local optima. The task of global optimization is to find a point where the objective function obtains its most extreme value while satisfying the constraints. Some methods try to make the solution feasible by using penalty function methods, but the performance is not always satisfactory since the selection of the penalty parameters for the problem at hand is not a straightforward issue. Differential evolut...

  18. Robust synchronization of coupled neural oscillators using the derivative-free nonlinear Kalman Filter.

    Science.gov (United States)

    Rigatos, Gerasimos

    2014-12-01

    A synchronizing control scheme for coupled neural oscillators of the FitzHugh-Nagumo type is proposed. Using differential flatness theory the dynamical model of two coupled neural oscillators is transformed into an equivalent model in the linear canonical (Brunovsky) form. A similar linearized description is succeeded using differential geometry methods and the computation of Lie derivatives. For such a model it becomes possible to design a state feedback controller that assures the synchronization of the membrane's voltage variations for the two neurons. To compensate for disturbances that affect the neurons' model as well as for parametric uncertainties and variations a disturbance observer is designed based on Kalman Filtering. This consists of implementation of the standard Kalman Filter recursion on the linearized equivalent model of the coupled neurons and computation of state and disturbance estimates using the diffeomorphism (relations about state variables transformation) provided by differential flatness theory. After estimating the disturbance terms in the neurons' model their compensation becomes possible. The performance of the synchronization control loop is tested through simulation experiments.

  19. Constrained hierarchical least square nonlinear equation solvers. [for indefinite stiffness and large structural deformations

    Science.gov (United States)

    Padovan, J.; Lackney, J.

    1986-01-01

    The current paper develops a constrained hierarchical least square nonlinear equation solver. The procedure can handle the response behavior of systems which possess indefinite tangent stiffness characteristics. Due to the generality of the scheme, this can be achieved at various hierarchical application levels. For instance, in the case of finite element simulations, various combinations of either degree of freedom, nodal, elemental, substructural, and global level iterations are possible. Overall, this enables a solution methodology which is highly stable and storage efficient. To demonstrate the capability of the constrained hierarchical least square methodology, benchmarking examples are presented which treat structure exhibiting highly nonlinear pre- and postbuckling behavior wherein several indefinite stiffness transitions occur.

  20. Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering

    CERN Document Server

    Hervier, Thibault; Goulette, François

    2012-01-01

    This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus of the localization error, is analysed, and described by a Fisher Information Matrix. It is advocated this error can be much reduced if the data is fused with measurements from other motion sensors, or even with prior knowledge on the motion. The data fusion is performed by a recently introduced specific extended Kalman filter, the so-called Invariant EKF, and is directly based on the estimated covariance of the ICP. The resulting filter is very natural, and is proved to possess strong properties. Experiments with a Kinect sensor and a three-axis gyroscope prove clear improvement in the accuracy of the localization, and thus in the accuracy of the built 3D map.

  1. Nonlinear motion compensation using cubature Kalman filter for in vivo fluorescence microendoscopy in peripheral lung cancer intervention

    Science.gov (United States)

    He, Tiancheng; Xue, Zhong; Alvarado, Miguel Valdivia y.; Wong, Kelvin K.; Xie, Weixin; Wong, Stephen T. C.

    2013-01-01

    Fluorescence microendoscopy can potentially be a powerful modality in minimally invasive percutaneous intervention for cancer diagnosis because it has an exceptional ability to provide micron-scale resolution images in tissues inaccessible to traditional microscopy. After targeting the tumor with guidance by macroscopic images such as computed tomorgraphy or magnetic resonance imaging, fluorescence microendoscopy can help select the biopsy spots or perform an on-site molecular imaging diagnosis. However, one challenge of this technique for percutaneous lung intervention is that the respiratory and hemokinesis motion often renders instability of the sequential image visualization and results in inaccurate quantitative measurement. Motion correction on such serial microscopy image sequences is, therefore, an important post-processing step. We propose a nonlinear motion compensation algorithm using a cubature Kalman filter (NMC-CKF) to correct these periodic spatial and intensity changes, and validate the algorithm using preclinical imaging experiments. The algorithm integrates a longitudinal nonlinear system model using the CKF in the serial image registration algorithm for robust estimation of the longitudinal movements. Experiments were carried out using simulated and real microendoscopy videos captured from the CellVizio 660 system in rabbit VX2 cancer intervention. The results show that the NMC-CKF algorithm yields more robust and accurate alignment results.

  2. Geodynamic inversion to constrain the nonlinear rheology of the lithosphere

    Science.gov (United States)

    Baumann, Tobias; Kaus, Boris

    2015-04-01

    A common method to determine the strength of the lithosphere is through estimating its effective elastic thickness from the coherence between gravity and topography. This method assumes a priori that the lithosphere is a thin elastic plate floating on a viscous mantle. Whereas this seems to work well with oceanic plates, it has given controversial results in continental collision zones. Usually, continental collisions zones are well-studied areas for which additional geophysical datasets such as receiver functions and seismic tomography exist that constrain the geometry of the lithosphere and often show that it is rather complex. Yet, lithospheric geometry by itself is insufficient to understand the dynamics of the lithosphere, as this also requires knowledge of the rheology of the lithosphere. Experimental results show significant variability between various rock types and there are large uncertainties in extrapolating laboratory values to nature, which leaves room for speculation. An independent approach is thus required to better understand the rheology and dynamics of the lithosphere in collision zones. Our method combines numerical thermo-mechanical forward models of the present-day lithosphere with a massively parallel Bayesian inversion approach. The geometry of the forward models is part of the a priori knowledge and is constructed from seismological data. We jointly invert topography, gravity, horizontal and vertical surface velocities to constrain the unknown rheological material parameters of the forward models in a probabilistic sense. The model rheology is described with experimentally determined viscous creep laws and other parameters describing the plastic behaviour. As viscosity is temperature dependent, the temperature structure of the forward models is parameterised as well. We apply the method to cross-sections of the India-Asia collision system. In this case, we deal with 17 to 20 model parameters, which requires solving up to 2 × 106 forward

  3. A nonlinear model for rotationally constrained convection with Ekman pumping

    CERN Document Server

    Julien, Keith; Calkins, Michael A; Knobloch, Edgar; Marti, Philippe; Stellmach, Stephan; Vasil, Geoffrey M

    2016-01-01

    It is a well established result of linear theory that the influence of differing mechanical boundary conditions, i.e., stress-free or no-slip, on the primary instability in rotating convection becomes asymptotically small in the limit of rapid rotation. This is accounted for by the diminishing impact of the viscous stresses exerted within Ekman boundary layers and the associated vertical momentum transport by Ekman pumping. By contrast, in the nonlinear regime recent experiments and supporting simulations are now providing evidence that the efficiency of heat transport remains strongly influenced by Ekman pumping in the rapidly rotating limit. In this paper, a reduced model is developed for the case of low Rossby number convection in a plane layer geometry with no-slip upper and lower boundaries held at fixed temperatures. A complete description of the dynamics requires the existence of three distinct regions within the fluid layer: a geostrophically balanced interior where fluid motions are predominately ali...

  4. New cooperative projection neural network for nonlinearly constrained variational inequality

    Institute of Scientific and Technical Information of China (English)

    XIA YouSheng

    2009-01-01

    This paper proposes a new cooperative projection neural network (CPNN), which combines automat-ically three individual neural network models with a common projection term. As a special case, the proposed CPNN can include three recent recurrent neural networks for solving monotone variational in-equality problems with limit or linear constraints, respectively. Under the monotonicity condition of the corresponding Lagrangian mapping, the proposed CPNN is theoretically guaranteed to solve monotone variational inequality problems and a class of nonmonotone variational inequality problems with linear and nonlinear constraints. Unlike the extended projection neural network, the proposed CPNN has no limitation on the initial point for global convergence. Compared with other related cooperative neural networks and numerical optimization algorithms, the proposed CPNN has a low computational complex-ity and requires weak convergence conditions. An application in real-time grasping force optimization and examples demonstrate good performance of the proposed CPNN.

  5. Constraining a compositional flow model with flow-chemical data using an ensemble-based Kalman filter

    KAUST Repository

    Gharamti, M. E.

    2014-03-01

    Isothermal compositional flow models require coupling transient compressible flows and advective transport systems of various chemical species in subsurface porous media. Building such numerical models is quite challenging and may be subject to many sources of uncertainties because of possible incomplete representation of some geological parameters that characterize the system\\'s processes. Advanced data assimilation methods, such as the ensemble Kalman filter (EnKF), can be used to calibrate these models by incorporating available data. In this work, we consider the problem of estimating reservoir permeability using information about phase pressure as well as the chemical properties of fluid components. We carry out state-parameter estimation experiments using joint and dual updating schemes in the context of the EnKF with a two-dimensional single-phase compositional flow model (CFM). Quantitative and statistical analyses are performed to evaluate and compare the performance of the assimilation schemes. Our results indicate that including chemical composition data significantly enhances the accuracy of the permeability estimates. In addition, composition data provide more information to estimate system states and parameters than do standard pressure data. The dual state-parameter estimation scheme provides about 10% more accurate permeability estimates on average than the joint scheme when implemented with the same ensemble members, at the cost of twice more forward model integrations. At similar computational cost, the dual approach becomes only beneficial after using large enough ensembles.

  6. Constraining a compositional flow model with flow-chemical data using an ensemble-based Kalman filter

    Science.gov (United States)

    Gharamti, M. E.; Kadoura, A.; Valstar, J.; Sun, S.; Hoteit, I.

    2014-03-01

    Isothermal compositional flow models require coupling transient compressible flows and advective transport systems of various chemical species in subsurface porous media. Building such numerical models is quite challenging and may be subject to many sources of uncertainties because of possible incomplete representation of some geological parameters that characterize the system's processes. Advanced data assimilation methods, such as the ensemble Kalman filter (EnKF), can be used to calibrate these models by incorporating available data. In this work, we consider the problem of estimating reservoir permeability using information about phase pressure as well as the chemical properties of fluid components. We carry out state-parameter estimation experiments using joint and dual updating schemes in the context of the EnKF with a two-dimensional single-phase compositional flow model (CFM). Quantitative and statistical analyses are performed to evaluate and compare the performance of the assimilation schemes. Our results indicate that including chemical composition data significantly enhances the accuracy of the permeability estimates. In addition, composition data provide more information to estimate system states and parameters than do standard pressure data. The dual state-parameter estimation scheme provides about 10% more accurate permeability estimates on average than the joint scheme when implemented with the same ensemble members, at the cost of twice more forward model integrations. At similar computational cost, the dual approach becomes only beneficial after using large enough ensembles.

  7. Constrained predictive control based on T-S fuzzy model for nonlinear systems

    Institute of Scientific and Technical Information of China (English)

    Su Baili; Chen Zengqiang; Yuan Zhuzhi

    2007-01-01

    A constrained generalized predictive control (GPC) algorithm based on the T-S fuzzy model is presented for the nonlinear system. First, a Takagi-Sugeno (T-S) fuzzy model based on the fuzzy cluster algorithm and the orthogonal least square method is constructed to approach the nonlinear system. Since its consequence is linear, it can divide the nonlinear system into a number of linear or nearly linear subsystems. For this T-S fuzzy model, a GPC algorithm with input constraints is presented.This strategy takes into account all the constraints of the control signal and its increment, and does not require the calculation of the Diophantine equations. So it needs only a small computer memory and the computational speed is high. The simulation results show a good performance for the nonlinear systems.

  8. An extended version of the discrete Kalman filter applied to a nonlinear inverse heat conduction problem; Version etendue du filtre de Kalman discret appliquee a un probleme inverse de conduction de chaleur non lineaire

    Energy Technology Data Exchange (ETDEWEB)

    Daouas, N.; Radhouani, M.S. [Ecole Nationale d' Ingenieurs de Monastir, Dept. de Genie-Energetique, Monastir (Tunisia)

    2000-02-01

    Nonlinear inverse heat conduction problem is resolved by using a formulation of the Kalman filter based on a statistical approach and extended to nonlinear systems. The time evolution of a surface heat flux density is reconstructed from a numerical simulation which allowed us to analyse the influence of some parameters, that condition the running of the filter, on the estimation result. A suitable choice of these parameters, guided by the filter behaviour observations, leads to a solution that remains stable when using noisy data, but that is slightly time-lagged compared to the exact function. This time-lag depends on the location of the interior temperature measurement needed for the inversion and on the model error caused by the approximation of the heat flux with a piece-wide constant function. The application of the extended Kalman filter with real measurements recorded from an experimental set-up, shows that this technique fits the stochastic structure of experimental measurements. The provided results are validated by using the Raynaud's and Bransier's inverse method and are in good agreement with the flux density estimated with this method. (authors)

  9. Generic Kalman Filter Software

    Science.gov (United States)

    Lisano, Michael E., II; Crues, Edwin Z.

    2005-01-01

    the basis of the aforementioned templates. The GKF software can be used to develop many different types of unfactorized Kalman filters. A developer can choose to implement either a linearized or an extended Kalman filter algorithm, without having to modify the GKF software. Control dynamics can be taken into account or neglected in the filter-dynamics model. Filter programs developed by use of the GKF software can be made to propagate equations of motion for linear or nonlinear dynamical systems that are deterministic or stochastic. In addition, filter programs can be made to operate in user-selectable "covariance analysis" and "propagation-only" modes that are useful in design and development stages.

  10. Kullback-Leibler Divergence Approach to Partitioned Update Kalman Filter

    OpenAIRE

    Raitoharju, Matti; García-Fernández, Ángel F.; Piché, Robert

    2016-01-01

    Kalman filtering is a widely used framework for Bayesian estimation. The partitioned update Kalman filter applies a Kalman filter update in parts so that the most linear parts of measurements are applied first. In this paper, we generalize partitioned update Kalman filter, which requires the use oft the second order extended Kalman filter, so that it can be used with any Kalman filter extension. To do so, we use a Kullback-Leibler divergence approach to measure the nonlinearity of the measure...

  11. Variance-Constrained Multiobjective Control and Filtering for Nonlinear Stochastic Systems: A Survey

    Directory of Open Access Journals (Sweden)

    Lifeng Ma

    2013-01-01

    Full Text Available The multiobjective control and filtering problems for nonlinear stochastic systems with variance constraints are surveyed. First, the concepts of nonlinear stochastic systems are recalled along with the introduction of some recent advances. Then, the covariance control theory, which serves as a practical method for multi-objective control design as well as a foundation for linear system theory, is reviewed comprehensively. The multiple design requirements frequently applied in engineering practice for the use of evaluating system performances are introduced, including robustness, reliability, and dissipativity. Several design techniques suitable for the multi-objective variance-constrained control and filtering problems for nonlinear stochastic systems are discussed. In particular, as a special case for the multi-objective design problems, the mixed H2/H∞ control and filtering problems are reviewed in great detail. Subsequently, some latest results on the variance-constrained multi-objective control and filtering problems for the nonlinear stochastic systems are summarized. Finally, conclusions are drawn, and several possible future research directions are pointed out.

  12. A discrete model for geometrically nonlinear transverse free constrained vibrations of beams with various end conditions

    Science.gov (United States)

    Rahmouni, A.; Beidouri, Z.; Benamar, R.

    2013-09-01

    The purpose of the present paper was the development of a physically discrete model for geometrically nonlinear free transverse constrained vibrations of beams, which may replace, if sufficient degrees of freedom are used, the previously developed continuous nonlinear beam constrained vibration models. The discrete model proposed is an N-Degrees of Freedom (N-dof) system made of N masses placed at the ends of solid bars connected by torsional springs, presenting the beam flexural rigidity. The large transverse displacements of the bar ends induce a variation in their lengths giving rise to axial forces modelled by longitudinal springs. The calculations made allowed application of the semi-analytical model developed previously for nonlinear structural vibration involving three tensors, namely the mass tensor mij, the linear rigidity tensor kij and the nonlinearity tensor bijkl. By application of Hamilton's principle and spectral analysis, the nonlinear vibration problem is reduced to a nonlinear algebraic system, examined for increasing numbers of dof. The results obtained by the physically discrete model showed a good agreement and a quick convergence to the equivalent continuous beam model, for various fixed boundary conditions, for both the linear frequencies and the nonlinear backbone curves, and also for the corresponding mode shapes. The model, validated here for the simply supported and clamped ends, may be used in further works to present the flexural linear and nonlinear constrained vibrations of beams with various types of discontinuities in the mass or in the elasticity distributions. The development of an adequate discrete model including the effect of the axial strains induced by large displacement amplitudes, which is predominant in geometrically nonlinear transverse constrained vibrations of beams [1]. The investigation of the results such a discrete model may lead to in the case of nonlinear free vibrations. The development of the analogy between the

  13. Tightly Coupled Integration of GPS Ambiguity Fixed Precise Point Positioning and MEMS-INS through a Troposphere-Constrained Adaptive Kalman Filter

    Science.gov (United States)

    Han, Houzeng; Xu, Tianhe; Wang, Jian

    2016-01-01

    Precise Point Positioning (PPP) makes use of the undifferenced pseudorange and carrier phase measurements with ionospheric-free (IF) combinations to achieve centimeter-level positioning accuracy. Conventionally, the IF ambiguities are estimated as float values. To improve the PPP positioning accuracy and shorten the convergence time, the integer phase clock model with between-satellites single-difference (BSSD) operation is used to recover the integer property. However, the continuity and availability of stand-alone PPP is largely restricted by the observation environment. The positioning performance will be significantly degraded when GPS operates under challenging environments, if less than five satellites are present. A commonly used approach is integrating a low cost inertial sensor to improve the positioning performance and robustness. In this study, a tightly coupled (TC) algorithm is implemented by integrating PPP with inertial navigation system (INS) using an Extended Kalman filter (EKF). The navigation states, inertial sensor errors and GPS error states are estimated together. The troposphere constrained approach, which utilizes external tropospheric delay as virtual observation, is applied to further improve the ambiguity-fixed height positioning accuracy, and an improved adaptive filtering strategy is implemented to improve the covariance modelling considering the realistic noise effect. A field vehicular test with a geodetic GPS receiver and a low cost inertial sensor was conducted to validate the improvement on positioning performance with the proposed approach. The results show that the positioning accuracy has been improved with inertial aiding. Centimeter-level positioning accuracy is achievable during the test, and the PPP/INS TC integration achieves a fast re-convergence after signal outages. For troposphere constrained solutions, a significant improvement for the height component has been obtained. The overall positioning accuracies of the height

  14. Tightly Coupled Integration of GPS Ambiguity Fixed Precise Point Positioning and MEMS-INS through a Troposphere-Constrained Adaptive Kalman Filter.

    Science.gov (United States)

    Han, Houzeng; Xu, Tianhe; Wang, Jian

    2016-07-08

    Precise Point Positioning (PPP) makes use of the undifferenced pseudorange and carrier phase measurements with ionospheric-free (IF) combinations to achieve centimeter-level positioning accuracy. Conventionally, the IF ambiguities are estimated as float values. To improve the PPP positioning accuracy and shorten the convergence time, the integer phase clock model with between-satellites single-difference (BSSD) operation is used to recover the integer property. However, the continuity and availability of stand-alone PPP is largely restricted by the observation environment. The positioning performance will be significantly degraded when GPS operates under challenging environments, if less than five satellites are present. A commonly used approach is integrating a low cost inertial sensor to improve the positioning performance and robustness. In this study, a tightly coupled (TC) algorithm is implemented by integrating PPP with inertial navigation system (INS) using an Extended Kalman filter (EKF). The navigation states, inertial sensor errors and GPS error states are estimated together. The troposphere constrained approach, which utilizes external tropospheric delay as virtual observation, is applied to further improve the ambiguity-fixed height positioning accuracy, and an improved adaptive filtering strategy is implemented to improve the covariance modelling considering the realistic noise effect. A field vehicular test with a geodetic GPS receiver and a low cost inertial sensor was conducted to validate the improvement on positioning performance with the proposed approach. The results show that the positioning accuracy has been improved with inertial aiding. Centimeter-level positioning accuracy is achievable during the test, and the PPP/INS TC integration achieves a fast re-convergence after signal outages. For troposphere constrained solutions, a significant improvement for the height component has been obtained. The overall positioning accuracies of the height

  15. Tightly Coupled Integration of GPS Ambiguity Fixed Precise Point Positioning and MEMS-INS through a Troposphere-Constrained Adaptive Kalman Filter

    Directory of Open Access Journals (Sweden)

    Houzeng Han

    2016-07-01

    Full Text Available Precise Point Positioning (PPP makes use of the undifferenced pseudorange and carrier phase measurements with ionospheric-free (IF combinations to achieve centimeter-level positioning accuracy. Conventionally, the IF ambiguities are estimated as float values. To improve the PPP positioning accuracy and shorten the convergence time, the integer phase clock model with between-satellites single-difference (BSSD operation is used to recover the integer property. However, the continuity and availability of stand-alone PPP is largely restricted by the observation environment. The positioning performance will be significantly degraded when GPS operates under challenging environments, if less than five satellites are present. A commonly used approach is integrating a low cost inertial sensor to improve the positioning performance and robustness. In this study, a tightly coupled (TC algorithm is implemented by integrating PPP with inertial navigation system (INS using an Extended Kalman filter (EKF. The navigation states, inertial sensor errors and GPS error states are estimated together. The troposphere constrained approach, which utilizes external tropospheric delay as virtual observation, is applied to further improve the ambiguity-fixed height positioning accuracy, and an improved adaptive filtering strategy is implemented to improve the covariance modelling considering the realistic noise effect. A field vehicular test with a geodetic GPS receiver and a low cost inertial sensor was conducted to validate the improvement on positioning performance with the proposed approach. The results show that the positioning accuracy has been improved with inertial aiding. Centimeter-level positioning accuracy is achievable during the test, and the PPP/INS TC integration achieves a fast re-convergence after signal outages. For troposphere constrained solutions, a significant improvement for the height component has been obtained. The overall positioning accuracies

  16. Kalman filter parameter estimation for a nonlinear diffusion model of epithelial cell migration using stochastic collocation and the Karhunen-Loeve expansion.

    Science.gov (United States)

    Barber, Jared; Tanase, Roxana; Yotov, Ivan

    2016-06-01

    Several Kalman filter algorithms are presented for data assimilation and parameter estimation for a nonlinear diffusion model of epithelial cell migration. These include the ensemble Kalman filter with Monte Carlo sampling and a stochastic collocation (SC) Kalman filter with structured sampling. Further, two types of noise are considered -uncorrelated noise resulting in one stochastic dimension for each element of the spatial grid and correlated noise parameterized by the Karhunen-Loeve (KL) expansion resulting in one stochastic dimension for each KL term. The efficiency and accuracy of the four methods are investigated for two cases with synthetic data with and without noise, as well as data from a laboratory experiment. While it is observed that all algorithms perform reasonably well in matching the target solution and estimating the diffusion coefficient and the growth rate, it is illustrated that the algorithms that employ SC and KL expansion are computationally more efficient, as they require fewer ensemble members for comparable accuracy. In the case of SC methods, this is due to improved approximation in stochastic space compared to Monte Carlo sampling. In the case of KL methods, the parameterization of the noise results in a stochastic space of smaller dimension. The most efficient method is the one combining SC and KL expansion.

  17. Neural network solution for finite-horizon H-infinity constrained optimal control of nonlinear systems

    Institute of Scientific and Technical Information of China (English)

    Tao CHENG; Frank L.LEWIS

    2007-01-01

    In this paper,neural networks are used to approximately solve the finite-horizon constrained input H-infiniy state feedback control problem.The method is based on solving a related Hamilton-Jacobi-Isaacs equation of the corresponding finite-horizon zero-sum game.The game value function is approximated by a neural network wlth timevarying weights.It is shown that the neural network approximation converges uniformly to the game-value function and the resulting almost optimal constrained feedback controller provides closed-loop stability and bounded L2 gain.The result is an almost optimal H-infinity feedback controller with time-varying coefficients that is solved a priori off-line.The effectiveness of the method is shown on the Rotational/Translational Actuator benchmark nonlinear control problem.

  18. Management of occupational exposure to engineered nanoparticles through a chance-constrained nonlinear programming approach.

    Science.gov (United States)

    Chen, Zhi; Yuan, Yuan; Zhang, Shu-Shen; Chen, Yu; Yang, Feng-Lin

    2013-03-26

    Critical environmental and human health concerns are associated with the rapidly growing fields of nanotechnology and manufactured nanomaterials (MNMs). The main risk arises from occupational exposure via chronic inhalation of nanoparticles. This research presents a chance-constrained nonlinear programming (CCNLP) optimization approach, which is developed to maximize the nanaomaterial production and minimize the risks of workplace exposure to MNMs. The CCNLP method integrates nonlinear programming (NLP) and chance-constrained programming (CCP), and handles uncertainties associated with both the nanomaterial production and workplace exposure control. The CCNLP method was examined through a single-walled carbon nanotube (SWNT) manufacturing process. The study results provide optimal production strategies and alternatives. It reveal that a high control measure guarantees that environmental health and safety (EHS) standards regulations are met, while a lower control level leads to increased risk of violating EHS regulations. The CCNLP optimization approach is a decision support tool for the optimization of the increasing MNMS manufacturing with workplace safety constraints under uncertainties.

  19. The design of predictive control with characterized set of initial condition for constrained switched nonlinear system

    Institute of Scientific and Technical Information of China (English)

    SU BaiLi; LI ShaoYuan; ZHU QuanMin

    2009-01-01

    Stabilization of the constrained switched nonlinear systems is an attractive research subject. Predictive control can handle variable constraints well and make the system stable. Its stability is typically based on an assumption of initial feasibility of the optimization problem; however the set of initial conditions, starting from where a given predictive formulation is guaranteed to be feasible, is not explicitly char-acterized. In this paper, a hybrid predictive control method is proposed for a class of switched nonlin-ear systems with input constraints and un-measurable states. The main idea is to design a mixed con-troller using Lyapunov functions and a state observer, which switches appropriately between a bounded feedback controller and a predictive controller, and to give an explicitly characterized set of initial conditions to stabilize each closed-loop subsystem. For the whole switched nonlinear system, a suitable switched law based on the state estimation is designed to orchestrate the transitions between the consistituent modes and their respective controllers, and to ensure the whole closed-loop system's stability. The simulation results for a chemical process show the validity of the controller proposed in this paper.

  20. The design of predictive control with characterized set of initial condition for constrained switched nonlinear system

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    Stabilization of the constrained switched nonlinear systems is an attractive research subject. Predictive control can handle variable constraints well and make the system stable. Its stability is typically based on an assumption of initial feasibility of the optimization problem; however the set of initial conditions, starting from where a given predictive formulation is guaranteed to be feasible, is not explicitly characterized. In this paper, a hybrid predictive control method is proposed for a class of switched nonlinear systems with input constraints and un-measurable states. The main idea is to design a mixed controller using Lyapunov functions and a state observer, which switches appropriately between a bounded feedback controller and a predictive controller, and to give an explicitly characterized set of initial conditions to stabilize each closed-loop subsystem. For the whole switched nonlinear system, a suitable switched law based on the state estimation is designed to orchestrate the transitions between the consistituent modes and their respective controllers, and to ensure the whole closed-loop system’s stability. The simulation results for a chemical process show the validity of the controller proposed in this paper.

  1. 光电跟踪系统非线性新息自适应卡尔曼滤波算法%Nonlinear Innovation Adaptive Kalman Filter Algorithm for Electro-optical Tracking

    Institute of Scientific and Technical Information of China (English)

    王秋平; 左玲; 康顺

    2011-01-01

    为解决非线性部分状态卡尔曼滤波算法中由于线性化误差所导致的滤波精度下降问题,提出采用UT变换方法计算系统状态误差方差,及基于新息自适应调整系统噪声方差,进而构成一种新的非线性自适应部分状态卡尔曼滤波算法,并总结出详细算法结构.同时,将此方法应用到非线性测量光电跟踪系统中,并与U卡尔曼滤波和非线性部分状态卡尔曼滤波进行性能对比.仿真实验结果证明,将UT变换和基于新息自适应调整系统噪声方差方法引入部分状态卡尔曼滤波是有效的,而且其性能明显优于U卡尔曼滤波和非线性部分状态卡尔曼滤波.%In order to solve the problem of accuracy decline caused by the linearization error in nonlinear reduced state Kalman filter, a new nonlinear adaptive reduced state Kalman filter algorithm is provided by using UT transformation to calculate the covariance of the system state error and modify adaptively the system noise covariance based on innovation,and the algorithm structure is summarized in detail. Then, the algorithm is applied in nonlinear measurement electro-optical tracking system and the performances of nonlinear adaptive reduced state Kalman filter were compared with unscented Kalman filter and nonlinear reduced state Kalman filter. The Matlab simulation results show that applying UT transformation and modifying adaptively the system noise covariance based on innovation in reduced state Kalman filter is valid, and the performance outperforms those of the unscented Kalman filter and nonlinear reduced state Kalman filter.

  2. Adaptive Fuzzy Output Constrained Control Design for Multi-Input Multioutput Stochastic Nonstrict-Feedback Nonlinear Systems.

    Science.gov (United States)

    Li, Yongming; Tong, Shaocheng

    2016-08-25

    In this paper, an adaptive fuzzy output constrained control design approach is addressed for multi-input multioutput uncertain stochastic nonlinear systems in nonstrict-feedback form. The nonlinear systems addressed in this paper possess unstructured uncertainties, unknown gain functions and unknown stochastic disturbances. Fuzzy logic systems are utilized to tackle the problem of unknown nonlinear uncertainties. The barrier Lyapunov function technique is employed to solve the output constrained problem. In the framework of backstepping design, an adaptive fuzzy control design scheme is constructed. All the signals in the closed-loop system are proved to be bounded in probability and the system outputs are constrained in a given compact set. Finally, the applicability of the proposed controller is well carried out by a simulation example.

  3. An inner-outer nonlinear programming approach for constrained quadratic matrix model updating

    Science.gov (United States)

    Andretta, M.; Birgin, E. G.; Raydan, M.

    2016-01-01

    The Quadratic Finite Element Model Updating Problem (QFEMUP) concerns with updating a symmetric second-order finite element model so that it remains symmetric and the updated model reproduces a given set of desired eigenvalues and eigenvectors by replacing the corresponding ones from the original model. Taking advantage of the special structure of the constraint set, it is first shown that the QFEMUP can be formulated as a suitable constrained nonlinear programming problem. Using this formulation, a method based on successive optimizations is then proposed and analyzed. To avoid that spurious modes (eigenvectors) appear in the frequency range of interest (eigenvalues) after the model has been updated, additional constraints based on a quadratic Rayleigh quotient are dynamically included in the constraint set. A distinct practical feature of the proposed method is that it can be implemented by computing only a few eigenvalues and eigenvectors of the associated quadratic matrix pencil.

  4. Kalman Filtering with Real-Time Applications

    CERN Document Server

    Chui, Charles K

    2009-01-01

    Kalman Filtering with Real-Time Applications presents a thorough discussion of the mathematical theory and computational schemes of Kalman filtering. The filtering algorithms are derived via different approaches, including a direct method consisting of a series of elementary steps, and an indirect method based on innovation projection. Other topics include Kalman filtering for systems with correlated noise or colored noise, limiting Kalman filtering for time-invariant systems, extended Kalman filtering for nonlinear systems, interval Kalman filtering for uncertain systems, and wavelet Kalman filtering for multiresolution analysis of random signals. Most filtering algorithms are illustrated by using simplified radar tracking examples. The style of the book is informal, and the mathematics is elementary but rigorous. The text is self-contained, suitable for self-study, and accessible to all readers with a minimum knowledge of linear algebra, probability theory, and system engineering.

  5. Finite-dimensional constrained fuzzy control for a class of nonlinear distributed process systems.

    Science.gov (United States)

    Wu, Huai-Ning; Li, Han-Xiong

    2007-10-01

    This correspondence studies the problem of finite-dimensional constrained fuzzy control for a class of systems described by nonlinear parabolic partial differential equations (PDEs). Initially, Galerkin's method is applied to the PDE system to derive a nonlinear ordinary differential equation (ODE) system that accurately describes the dynamics of the dominant (slow) modes of the PDE system. Subsequently, a systematic modeling procedure is given to construct exactly a Takagi-Sugeno (T-S) fuzzy model for the finite-dimensional ODE system under state constraints. Then, based on the T-S fuzzy model, a sufficient condition for the existence of a stabilizing fuzzy controller is derived, which guarantees that the state constraints are satisfied and provides an upper bound on the quadratic performance function for the finite-dimensional slow system. The resulting fuzzy controllers can also guarantee the exponential stability of the closed-loop PDE system. Moreover, a local optimization algorithm based on the linear matrix inequalities is proposed to compute the feedback gain matrices of a suboptimal fuzzy controller in the sense of minimizing the quadratic performance bound. Finally, the proposed design method is applied to the control of the temperature profile of a catalytic rod.

  6. Control of nonlinear systems with applications to constrained robots and spacecraft attitude stabilization

    Science.gov (United States)

    Krishnan, Hariharan

    1993-01-01

    This thesis is organized in two parts. In Part 1, control systems described by a class of nonlinear differential and algebraic equations are introduced. A procedure for local stabilization based on a local state realization is developed. An alternative approach to local stabilization is developed based on a classical linearization of the nonlinear differential-algebraic equations. A theoretical framework is established for solving a tracking problem associated with the differential-algebraic system. First, a simple procedure is developed for the design of a feedback control law which ensures, at least locally, that the tracking error in the closed loop system lies within any given bound if the reference inputs are sufficiently slowly varying. Next, by imposing additional assumptions, a procedure is developed for the design of a feedback control law which ensures that the tracking error in the closed loop system approaches zero exponentially for reference inputs which are not necessarily slowly varying. The control design methodologies are used for simultaneous force and position control in constrained robot systems. The differential-algebraic equations are shown to characterize the slow dynamics of a certain nonlinear control system in nonstandard singularly perturbed form. In Part 2, the attitude stabilization (reorientation) of a rigid spacecraft using only two control torques is considered. First, the case of momentum wheel actuators is considered. The complete spacecraft dynamics are not controllable. However, the spacecraft dynamics are small time locally controllable in a reduced sense. The reduced spacecraft dynamics cannot be asymptotically stabilized using continuous feedback, but a discontinuous feedback control strategy is constructed. Next, the case of gas jet actuators is considered. If the uncontrolled principal axis is not an axis of symmetry, the complete spacecraft dynamics are small time locally controllable. However, the spacecraft attitude

  7. Finite-horizon control-constrained nonlinear optimal control using single network adaptive critics.

    Science.gov (United States)

    Heydari, Ali; Balakrishnan, Sivasubramanya N

    2013-01-01

    To synthesize fixed-final-time control-constrained optimal controllers for discrete-time nonlinear control-affine systems, a single neural network (NN)-based controller called the Finite-horizon Single Network Adaptive Critic is developed in this paper. Inputs to the NN are the current system states and the time-to-go, and the network outputs are the costates that are used to compute optimal feedback control. Control constraints are handled through a nonquadratic cost function. Convergence proofs of: 1) the reinforcement learning-based training method to the optimal solution; 2) the training error; and 3) the network weights are provided. The resulting controller is shown to solve the associated time-varying Hamilton-Jacobi-Bellman equation and provide the fixed-final-time optimal solution. Performance of the new synthesis technique is demonstrated through different examples including an attitude control problem wherein a rigid spacecraft performs a finite-time attitude maneuver subject to control bounds. The new formulation has great potential for implementation since it consists of only one NN with single set of weights and it provides comprehensive feedback solutions online, though it is trained offline.

  8. Kalman filtering with real-time applications

    CERN Document Server

    Chui, Charles K

    2017-01-01

    This new edition presents a thorough discussion of the mathematical theory and computational schemes of Kalman filtering. The filtering algorithms are derived via different approaches, including a direct method consisting of a series of elementary steps, and an indirect method based on innovation projection. Other topics include Kalman filtering for systems with correlated noise or colored noise, limiting Kalman filtering for time-invariant systems, extended Kalman filtering for nonlinear systems, interval Kalman filtering for uncertain systems, and wavelet Kalman filtering for multiresolution analysis of random signals. Most filtering algorithms are illustrated by using simplified radar tracking examples. The style of the book is informal, and the mathematics is elementary but rigorous. The text is self-contained, suitable for self-study, and accessible to all readers with a minimum knowledge of linear algebra, probability theory, and system engineering. Over 100 exercises and problems with solutions help de...

  9. Model-Based Control of a Nonlinear Aircraft Engine Simulation using an Optimal Tuner Kalman Filter Approach

    Science.gov (United States)

    Connolly, Joseph W.; Csank, Jeffrey Thomas; Chicatelli, Amy; Kilver, Jacob

    2013-01-01

    This paper covers the development of a model-based engine control (MBEC) methodology featuring a self tuning on-board model applied to an aircraft turbofan engine simulation. Here, the Commercial Modular Aero-Propulsion System Simulation 40,000 (CMAPSS40k) serves as the MBEC application engine. CMAPSS40k is capable of modeling realistic engine performance, allowing for a verification of the MBEC over a wide range of operating points. The on-board model is a piece-wise linear model derived from CMAPSS40k and updated using an optimal tuner Kalman Filter (OTKF) estimation routine, which enables the on-board model to self-tune to account for engine performance variations. The focus here is on developing a methodology for MBEC with direct control of estimated parameters of interest such as thrust and stall margins. Investigations using the MBEC to provide a stall margin limit for the controller protection logic are presented that could provide benefits over a simple acceleration schedule that is currently used in traditional engine control architectures.

  10. Regions of constrained maximum likelihood parameter identifiability. [of discrete-time nonlinear dynamic systems with white measurement errors

    Science.gov (United States)

    Lee, C.-H.; Herget, C. J.

    1976-01-01

    This short paper considers the parameter-identification problem of general discrete-time, nonlinear, multiple input-multiple output dynamic systems with Gaussian white distributed measurement errors. Knowledge of the system parameterization is assumed to be available. Regions of constrained maximum likelihood (CML) parameter identifiability are established. A computation procedure employing interval arithmetic is proposed for finding explicit regions of parameter identifiability for the case of linear systems.

  11. An introduction to nonlinear programming. IV - Numerical methods for constrained minimization

    Science.gov (United States)

    Sorenson, H. W.; Koble, H. M.

    1976-01-01

    An overview is presented of the numerical solution of constrained minimization problems. Attention is given to both primal and indirect (linear programs and unconstrained minimizations) methods of solution.

  12. Comparison of nonlinear local Lyapunov vectors with bred vectors, random perturbations and ensemble transform Kalman filter strategies in a barotropic model

    Science.gov (United States)

    Feng, Jie; Ding, Ruiqiang; Li, Jianping; Liu, Deqiang

    2016-09-01

    The breeding method has been widely used to generate ensemble perturbations in ensemble forecasting due to its simple concept and low computational cost. This method produces the fastest growing perturbation modes to catch the growing components in analysis errors. However, the bred vectors (BVs) are evolved on the same dynamical flow, which may increase the dependence of perturbations. In contrast, the nonlinear local Lyapunov vector (NLLV) scheme generates flow-dependent perturbations as in the breeding method, but regularly conducts the Gram-Schmidt reorthonormalization processes on the perturbations. The resulting NLLVs span the fast-growing perturbation subspace efficiently, and thus may grasp more components in analysis errors than the BVs. In this paper, the NLLVs are employed to generate initial ensemble perturbations in a barotropic quasi-geostrophic model. The performances of the ensemble forecasts of the NLLV method are systematically compared to those of the random perturbation (RP) technique, and the BV method, as well as its improved version—the ensemble transform Kalman filter (ETKF) method. The results demonstrate that the RP technique has the worst performance in ensemble forecasts, which indicates the importance of a flow-dependent initialization scheme. The ensemble perturbation subspaces of the NLLV and ETKF methods are preliminarily shown to catch similar components of analysis errors, which exceed that of the BVs. However, the NLLV scheme demonstrates slightly higher ensemble forecast skill than the ETKF scheme. In addition, the NLLV scheme involves a significantly simpler algorithm and less computation time than the ETKF method, and both demonstrate better ensemble forecast skill than the BV scheme.

  13. Adaptable Iterative and Recursive Kalman Filter Schemes

    Science.gov (United States)

    Zanetti, Renato

    2014-01-01

    Nonlinear filters are often very computationally expensive and usually not suitable for real-time applications. Real-time navigation algorithms are typically based on linear estimators, such as the extended Kalman filter (EKF) and, to a much lesser extent, the unscented Kalman filter. The Iterated Kalman filter (IKF) and the Recursive Update Filter (RUF) are two algorithms that reduce the consequences of the linearization assumption of the EKF by performing N updates for each new measurement, where N is the number of recursions, a tuning parameter. This paper introduces an adaptable RUF algorithm to calculate N on the go, a similar technique can be used for the IKF as well.

  14. Unscented Kalman filter for SINS alignment

    Institute of Scientific and Technical Information of China (English)

    Zhou Zhanxin; Gao Yanan; Chen Jiabin

    2007-01-01

    In order to improve the filter accuracy for the nonlinear error model of strapdown inertial navigation system (SINS) alignment, Unscented Kalman Filter (UKF) is presented for simulation with stationary base and moving base of SINS alignment.Simulation results show the superior performance of this approach when compared with classical suboptimal techniques such as extended Kalman filter in cases of large initial misalignment.The UKF has good performance in case of small initial misalignment.

  15. Constrained Optimal Stochastic Control of Non-Linear Wave Energy Point Absorbers

    DEFF Research Database (Denmark)

    Sichani, Mahdi Teimouri; Chen, Jian-Bing; Kramer, Morten

    2014-01-01

    The paper deals with the stochastic optimal control of a wave energy point absorber with strong nonlinear buoyancy forces using the reactive force from the electric generator on the absorber as control force. The considered point absorber has only one degree of freedom, heave motion, which is used...... presented in the paper. The effect of nonlinear buoyancy force – in comparison to linear buoyancy force – and constraints of the controller on the power outtake of the device have been studied in details and supported by numerical simulations....

  16. Technical Note: Methods for interval constrained atmospheric inversion of methane

    Directory of Open Access Journals (Sweden)

    J. Tang

    2010-08-01

    Full Text Available Three interval constrained methods, including the interval constrained Kalman smoother, the interval constrained maximum likelihood ensemble smoother and the interval constrained ensemble Kalman smoother are developed to conduct inversions of atmospheric trace gas methane (CH4. The negative values of fluxes in an unconstrained inversion are avoided in the constrained inversion. In a multi-year inversion experiment using pseudo observations derived from a forward transport simulation with known fluxes, the interval constrained fixed-lag Kalman smoother presents the best results, followed by the interval constrained fixed-lag ensemble Kalman smoother and the interval constrained maximum likelihood ensemble Kalman smoother. Consistent uncertainties are obtained for the posterior fluxes with these three methods. This study provides alternatives of the variable transform method to deal with interval constraints in atmospheric inversions.

  17. Reduced order Kalman state estimators for nonlinear non-square descriptor systems%非线性非方广义系统降阶 Kalm an 状态估值器

    Institute of Scientific and Technical Information of China (English)

    田行伟; 石莹; 高阳; 蒋函彤; 王子宁

    2016-01-01

    利用Taylor级数展开法将非线性非方广义系统线性化,再利用奇异值分解方法将线性化后的非方广义系统降阶为等价正常系统;基于Kalman滤波理论,得到非线性非方广义系统Kal-man状态预报器和滤波器。并给出了数值Matlab仿真算例,验证了所提方法的有效性。%Taylor series expansion is used to making the nonlinear non-square descriptor systems to be linearized , then using singular value decomposition method to reduced a normal system .Basing on Kalman filtering theory , the state Kalman filter and predictor for the nonlinear non-square descriptor systems are presented .The simulation example is given to show the correctness and effectiveness of the proposed algorithm .

  18. Aperiodic Robust Model Predictive Control for Constrained Continuous-Time Nonlinear Systems: An Event-Triggered Approach.

    Science.gov (United States)

    Liu, Changxin; Gao, Jian; Li, Huiping; Xu, Demin

    2017-08-14

    The event-triggered control is a promising solution to cyber-physical systems, such as networked control systems, multiagent systems, and large-scale intelligent systems. In this paper, we propose an event-triggered model predictive control (MPC) scheme for constrained continuous-time nonlinear systems with bounded disturbances. First, a time-varying tightened state constraint is computed to achieve robust constraint satisfaction, and an event-triggered scheduling strategy is designed in the framework of dual-mode MPC. Second, the sufficient conditions for ensuring feasibility and closed-loop robust stability are developed, respectively. We show that robust stability can be ensured and communication load can be reduced with the proposed MPC algorithm. Finally, numerical simulations and comparison studies are performed to verify the theoretical results.

  19. Simulation-based inexact chance-constrained nonlinear programming for eutrophication management in the Xiangxi Bay of Three Gorges Reservoir.

    Science.gov (United States)

    Huang, Y L; Huang, G H; Liu, D F; Zhu, H; Sun, W

    2012-10-15

    Although integrated simulation and optimization approaches under stochastic uncertainty have been applied to eutrophication management problems, few studies are reported in eutrophication control planning where multiple formats of uncertainties and nonlinearities are addressed in forms of intervals and probabilistic distributions within an integrated framework. Since the impounding of Three Gorges Reservoir (TGR), China in 2003, the hydraulic conditions and aquatic environment of the Xiangxi Bay (XXB) have changed significantly. The resulting emergence of eutrophication and algal blooms leads to its deteriorated water quality. The XXB becomes an ideal case study area. Thus, a simulation-based inexact chance-constrained nonlinear programming (SICNP) model is developed and applied to eutrophication control planning in the XXB of the TGR under uncertainties. In the SICNP, the wastewater treatment costs for removing total phosphorus (TP) are set as the objective function; effluent discharge standards, stream water quality standards and eutrophication control standards are considered in the constraints; a steady-state simulation model for phosphorus transport and fate is embedded in the environmental standards constraints; the interval programming and chance-constrained approaches are integrated to provide interval decision variables but also the associated risk levels in violating the system constraints. The model results indicate that changes in the violating level (q) will result in different strategy distributions at spatial and temporal scales; the optimal value of cost objective is from [2.74, 13.41] million RMB to [2.25, 13.08] million RMB when q equals from 0.01 to 0.25; the required TP treatment efficiency for the Baisha plant is the most stringent, which is followed by the Xiakou Town and the Zhaojun Town, while the requirement for the Pingyikou cement plant is the least stringent. The model results are useful for making optimal policies on eutrophication

  20. Kalman filtering theory and practice with MATLAB

    CERN Document Server

    Grewal, M

    2015-01-01

    The definitive textbook and professional reference on Kalman Filtering fully updated, revised, and expanded This book contains the latest developments in the implementation and application of Kalman filtering. Authors Grewal and Andrews draw upon their decades of experience to offer an in-depth examination of the subtleties, common pitfalls, and limitations of estimation theory as it applies to real-world situations. They present many illustrative examples including adaptations for nonlinear filtering, global navigation satellite systems, the error modeling of gyros and accelerometers, inertial navigation systems, and freeway traffic control. Kalman Filtering: Theory and Practice Using MATLAB, Fourth Edition is an ideal textbook in advanced undergraduate and beginning graduate courses in stochastic processes and Kalman filtering. It is also appropriate for self-instruction or review by practicing engineers and scientists who want to learn more about this important topic.

  1. AN AFFINE SCALING INTERIOR ALGORITHM VIA CONJUGATE GRADIENT PATH FOR SOLVING BOUND-CONSTRAINED NONLINEAR SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    Chunxia Jia; Detong Zhu

    2008-01-01

    In this paper we propose an affine scaling interior algorithm via conjugate gradient path for solving nonlinear equality systems subject to bounds on variables.By employing the affine scaling conjugate gradient path search strategy,we obtain an iterative direction by solving the linearize model.By using the line search technique,we will find an acceptable trial step length along this direction which is strictly feasible and makes the objective function nonmonotonically decreasing.The global convergence and fast local convergence rate of the proposed algorithm are established under some reasonable conditions.Furthermore,the numerical results of the proposed algorithm indicate to be effective.

  2. Consensus of High-Order Nonlinear Multiagent Systems with Constrained Switching Topologies

    Directory of Open Access Journals (Sweden)

    Junwei Wang

    2017-01-01

    Full Text Available The relationship between control and communication constraints is becoming of central importance in the consensus problem of networked agents. In this paper, we investigate such a problem for nonlinear multiagent systems with Lipschitz dynamics. To reflect communication constraints, the topology is assumed to switch within a finite set of digraphs characterised by an average dwell time switching signal. By constructing a suitable multiple Lyapunov function, we show that consensus can be reached under the designed consensus protocol. A multistep algorithm for designing consensus protocol is then developed by solving the Lyapunov equation and algebraic Riccati equation. Finally, simulation examples are delineated to substantiate the effectiveness of the proposed algorithms.

  3. A new deterministic global optimization method for general twice-differentiable constrained nonlinear programming problems

    Science.gov (United States)

    Park, Y. C.; Chang, M. H.; Lee, T.-Y.

    2007-06-01

    A deterministic global optimization method that is applicable to general nonlinear programming problems composed of twice-differentiable objective and constraint functions is proposed. The method hybridizes the branch-and-bound algorithm and a convex cut function (CCF). For a given subregion, the difference of a convex underestimator that does not need an iterative local optimizer to determine the lower bound of the objective function is generated. If the obtained lower bound is located in an infeasible region, then the CCF is generated for constraints to cut this region. The cutting region generated by the CCF forms a hyperellipsoid and serves as the basis of a discarding rule for the selected subregion. However, the convergence rate decreases as the number of cutting regions increases. To accelerate the convergence rate, an inclusion relation between two hyperellipsoids should be applied in order to reduce the number of cutting regions. It is shown that the two-hyperellipsoid inclusion relation is determined by maximizing a quadratic function over a sphere, which is a special case of a trust region subproblem. The proposed method is applied to twelve nonlinear programming test problems and five engineering design problems. Numerical results show that the proposed method converges in a finite calculation time and produces accurate solutions.

  4. SEQUENTIAL SYSTEMS OF LINEAR EQUATIONS ALGORITHM FOR NONLINEAR OPTIMIZATION PROBLEMS - INEQUALITY CONSTRAINED PROBLEMS

    Institute of Scientific and Technical Information of China (English)

    Zi-you Gao; Tian-de Guo; Guo-ping He; Fang Wu

    2002-01-01

    In this paper, a new superlinearly convergent algorithm of sequential systems of linear equations (SSLE) for nonlinear optimization problems with inequality constraints is proposed. Since the new algorithm only needs to solve several systems of linear equations having a same coefficient matrix per iteration, the computation amount of the algorithm is much less than that of the existing SQP algorithms per iteration. Moreover, for the SQPtype algorithms, there exist so-called inconsistent problems, i.e., quadratic programming subproblems of the SQP algorithms may not have a solution at some iterations, but this phenomenon will not occur with the SSLE algorithms because the related systems of linear equations always have solutions. Some numerical results are reported.

  5. Distributed model predictive control for constrained nonlinear systems with decoupled local dynamics.

    Science.gov (United States)

    Zhao, Meng; Ding, Baocang

    2015-03-01

    This paper considers the distributed model predictive control (MPC) of nonlinear large-scale systems with dynamically decoupled subsystems. According to the coupled state in the overall cost function of centralized MPC, the neighbors are confirmed and fixed for each subsystem, and the overall objective function is disassembled into each local optimization. In order to guarantee the closed-loop stability of distributed MPC algorithm, the overall compatibility constraint for centralized MPC algorithm is decomposed into each local controller. The communication between each subsystem and its neighbors is relatively low, only the current states before optimization and the optimized input variables after optimization are being transferred. For each local controller, the quasi-infinite horizon MPC algorithm is adopted, and the global closed-loop system is proven to be exponentially stable.

  6. Nonlinear Constrained Adaptive Backstepping Tracking Control for a Hypersonic Vehicle with Uncertainty

    Directory of Open Access Journals (Sweden)

    Qin Zou

    2015-01-01

    Full Text Available The control problem of a flexible hypersonic vehicle is presented, where input saturation and aerodynamic uncertainty are considered. A control-oriented model including aerodynamic uncertainty is derived for simple controller design due to the nonlinearity and complexity of hypersonic vehicle model. Then it is separated into velocity subsystem and altitude subsystem. On the basis of the integration of robust adaptive control and backstepping technique, respective controller is designed for each subsystem, where an auxiliary signal provided by an additional dynamic system is used to compensate for the control saturation effect. Then to deal with the “explosion of terms” problem inherent in backstepping control, a novel first-order filter is proposed. Simulation results are included to demonstrate the effectiveness of the adaptive backstepping control scheme.

  7. Nutrient Limitations Constrain the Feedback Capacity of Landscapes in the High Arctic: Nonlinearities and Synergism

    Science.gov (United States)

    Arens, S. J.; Sullivan, P. F.; Welker, J. M.; Rogers, M. C.; Holland, K.; Schimel, J.; Persson, K.

    2006-12-01

    of N alone causes a nonlinear response. The rapidity by which these dramatic changes occurred indicates that increases in atmospheric N deposition or the stimulation of organic matter decomposition and the mineralization of N due to warmer air and soil temperatures has the capacity to completely alter surface dynamics and feedback processes in the High Arctic.

  8. Geodynamic inversion to constrain the non-linear rheology of the lithosphere

    Science.gov (United States)

    Baumann, T. S.; Kaus, Boris J. P.

    2015-08-01

    One of the main methods to determine the strength of the lithosphere is by estimating it's effective elastic thickness. This method assumes that the lithosphere is a thin elastic plate that floats on the mantle and uses both topography and gravity anomalies to estimate the plate thickness. Whereas this seems to work well for oceanic plates, it has given controversial results in continental collision zones. For most of these locations, additional geophysical data sets such as receiver functions and seismic tomography exist that constrain the geometry of the lithosphere and often show that it is rather complex. Yet, lithospheric geometry by itself is insufficient to understand the dynamics of the lithosphere as this also requires knowledge of the rheology of the lithosphere. Laboratory experiments suggest that rocks deform in a viscous manner if temperatures are high and stresses low, or in a plastic/brittle manner if the yield stress is exceeded. Yet, the experimental results show significant variability between various rock types and there are large uncertainties in extrapolating laboratory values to nature, which leaves room for speculation. An independent method is thus required to better understand the rheology and dynamics of the lithosphere in collision zones. The goal of this paper is to discuss such an approach. Our method relies on performing numerical thermomechanical forward models of the present-day lithosphere with an initial geometry that is constructed from geophysical data sets. We employ experimentally determined creep-laws for the various parts of the lithosphere, but assume that the parameters of these creep-laws as well as the temperature structure of the lithosphere are uncertain. This is used as a priori information to formulate a Bayesian inverse problem that employs topography, gravity, horizontal and vertical surface velocities to invert for the unknown material parameters and temperature structure. In order to test the general methodology

  9. Q-Method Extended Kalman Filter

    Science.gov (United States)

    Zanetti, Renato; Ainscough, Thomas; Christian, John; Spanos, Pol D.

    2012-01-01

    A new algorithm is proposed that smoothly integrates non-linear estimation of the attitude quaternion using Davenport s q-method and estimation of non-attitude states through an extended Kalman filter. The new method is compared to a similar existing algorithm showing its similarities and differences. The validity of the proposed approach is confirmed through numerical simulations.

  10. Bio-inspired varying subspace based computational framework for a class of nonlinear constrained optimal trajectory planning problems.

    Science.gov (United States)

    Xu, Y; Li, N

    2014-09-01

    Biological species have produced many simple but efficient rules in their complex and critical survival activities such as hunting and mating. A common feature observed in several biological motion strategies is that the predator only moves along paths in a carefully selected or iteratively refined subspace (or manifold), which might be able to explain why these motion strategies are effective. In this paper, a unified linear algebraic formulation representing such a predator-prey relationship is developed to simplify the construction and refinement process of the subspace (or manifold). Specifically, the following three motion strategies are studied and modified: motion camouflage, constant absolute target direction and local pursuit. The framework constructed based on this varying subspace concept could significantly reduce the computational cost in solving a class of nonlinear constrained optimal trajectory planning problems, particularly for the case with severe constraints. Two non-trivial examples, a ground robot and a hypersonic aircraft trajectory optimization problem, are used to show the capabilities of the algorithms in this new computational framework.

  11. Harmonic Detection at Initialization With Kalman Filter

    DEFF Research Database (Denmark)

    Hussain, Dil Muhammad Akbar; Imran, Raja Muhammad; Shoro, Ghulam Mustafa

    2014-01-01

    the affect of harmonics on the supply. For the detection of these harmonics various techniques are available and one of that technique is the Kalman filter. In this paper we investigate that what are the consequences when harmonic detection system based on Kalman Filtering is initialized......Most power electronic equipment these days generate harmonic disturbances, these devices hold nonlinear voltage/current characteristic. The harmonics generated can potentially be harmful to the consumer supply. Typically, filters are integrated at the power source or utility location to filter out...

  12. Multilevel ensemble Kalman filter

    KAUST Repository

    Chernov, Alexey

    2016-01-06

    This work embeds a multilevel Monte Carlo (MLMC) sampling strategy into the Monte Carlo step of the ensemble Kalman filter (EnKF). In terms of computational cost vs. approximation error the asymptotic performance of the multilevel ensemble Kalman filter (MLEnKF) is superior to the EnKF s.

  13. Unscented Kalman Filter for Nonlinear Systems with Colored Measurement Noise%带有色量测噪声的非线性系统Unscented卡尔曼滤波器

    Institute of Scientific and Technical Information of China (English)

    王小旭; 梁彦; 潘泉; 赵春晖; 李汉舟

    2012-01-01

    Traditional unscented Kalman filter (UKF) calls for that noise should be Gaussian white one, and can not solve nonlinear filtering problem with colored noise. For this reason, a new UKF filtering algorithm with colored measurement noise is proposed. Firstly, optimal filtering framework for a class of nonlinear discrete-time systems with colored measurement noise is derived on the basis of augmented measurement information and minimum mean square error estimation. Secondly, filtering recursive formula of UKF with colored noise is proposed through applying unscented transformation (UT) to calculation the posterior mean and covariance of the nonlinear state in this optimal framework. The proposed UKF can effectively deal with the issue that traditional UKF is failure under the condition that measurement noise is colored. A numerical simulation example also shows its feasibility and effectiveness.%传统Unscented卡尔曼滤波器(Unscented Kalman filter,UKF)要求噪声必须为高斯白噪声,无法解决带有色噪声的非线性系统滤波问题.为此,本文提出了一种带有色量测噪声的UKF滤波新算法.首先,基于量测信息增广和最小方差估计,推导出一类带有色量测噪声的非线性离散系统状态的最优滤波框架,接着采用Unscented变换(Unscented transformation,UT)来计算最优框架中的非线性状态后验均值和协方差,进而得到有色量测噪声下UKF滤波递推公式.所设计的UKF新方法能有效地解决传统UKF在量测噪声有色情况下非线性滤波失效的问题,数值仿真实例验证了其可行性和有效性.

  14. Vehicle Sideslip Angle Estimation Based on Hybrid Kalman Filter

    Directory of Open Access Journals (Sweden)

    Jing Li

    2016-01-01

    Full Text Available Vehicle sideslip angle is essential for active safety control systems. This paper presents a new hybrid Kalman filter to estimate vehicle sideslip angle based on the 3-DoF nonlinear vehicle dynamic model combined with Magic Formula tire model. The hybrid Kalman filter is realized by combining square-root cubature Kalman filter (SCKF, which has quick convergence and numerical stability, with square-root cubature based receding horizon Kalman FIR filter (SCRHKF, which has robustness against model uncertainty and temporary noise. Moreover, SCKF and SCRHKF work in parallel, and the estimation outputs of two filters are merged by interacting multiple model (IMM approach. Experimental results show the accuracy and robustness of the hybrid Kalman filter.

  15. Data assimilation in the early phase: Kalman filtering RIMPUFF

    DEFF Research Database (Denmark)

    Astrup, P.; Turcanu, C.; Puch, R.O.;

    2004-01-01

    of RODOS (Realtime Online DecisiOn Support system for nuclear emergencies) – has been developed. It is built on the Kalman filtering algorithm and it assimilates 10-minute averaged gamma dose rates measured atground level stations. Since the gamma rates are non-linear functions of the state vector...... variables, the applied Kalman filter is the so-called Extended Kalman filter. In more ways the implementation is non standard: 1) the number of state vectorvariables varies with time, and 2) the state vector variables are prediction updated with 1-minute time steps but only Kalman filtered every 10 minutes......, and this based on time averaged measurements. Given reasonable conditions, i.e. a spatially densedistribution of gamma monitors and a realistic wind field, the developed ADUM module is found to be able to enhance the prediction of the gamma dose field. Based on some of the Kalman filtering parameters, another...

  16. A unified Kalman filter

    Science.gov (United States)

    Stubberud, Allen R.

    2017-01-01

    When considering problems of linear sequential estimation, two versions of the Kalman filter, the continuous-time version and the discrete-time version, are often used. (A hybrid filter also exists.) In many applications in which the Kalman filter is used, the system to which the filter is applied is a linear continuous-time system, but the Kalman filter is implemented on a digital computer, a discrete-time device. The two general approaches for developing a discrete-time filter for implementation on a digital computer are: (1) approximate the continuous-time system by a discrete-time system (called discretization of the continuous-time system) and develop a filter for the discrete-time approximation; and (2) develop a continuous-time filter for the system and then discretize the continuous-time filter. Generally, the two discrete-time filters will be different, that is, it can be said that discretization and filter generation are not, in general, commutative operations. As a result, any relationship between the discrete-time and continuous-time versions of the filter for the same continuous-time system is often obfuscated. This is particularly true when an attempt is made to generate the continuous-time version of the Kalman filter through a simple limiting process (the sample period going to zero) applied to the discrete-time version. The correct result is, generally, not obtained. In a 1961 research report, Kalman showed that the continuous-time Kalman filter can be obtained from the discrete-time Kalman filter by taking limits as the sample period goes to zero if the white noise process for the continuous-time version is appropriately defined. Using this basic concept, a discrete-time Kalman filter can be developed for a continuous-time system as follows: (1) discretize the continuous-time system using Kalman's technique; and (2) develop a discrete-time Kalman filter for that discrete-time system. Kalman's results show that the discrete-time filter generated in

  17. The Endogenous Kalman Filter

    OpenAIRE

    Brad Baxter; Liam Graham; Stephen Wright

    2007-01-01

    We relax the assumption of full information that underlies most dynamic general equilibrium models, and instead assume agents optimally form estimates of the states from an incomplete information set. We derive a version of the Kalman filter that is endogenous to agents' optimising decisions, and state conditions for its convergence. We show the (restrictive) conditions under which the endogenous Kalman filter will at least asymptotically reveal the true states. In general we show that incomp...

  18. Constrained State Estimation for Individual Localization in Wireless Body Sensor Networks

    Directory of Open Access Journals (Sweden)

    Xiaoxue Feng

    2014-11-01

    Full Text Available Wireless body sensor networks based on ultra-wideband radio have recently received much research attention due to its wide applications in health-care, security, sports and entertainment. Accurate localization is a fundamental problem to realize the development of effective location-aware applications above. In this paper the problem of constrained state estimation for individual localization in wireless body sensor networks is addressed. Priori knowledge about geometry among the on-body nodes as additional constraint is incorporated into the traditional filtering system. The analytical expression of state estimation with linear constraint to exploit the additional information is derived. Furthermore, for nonlinear constraint, first-order and second-order linearizations via Taylor series expansion are proposed to transform the nonlinear constraint to the linear case. Examples between the first-order and second-order nonlinear constrained filters based on interacting multiple model extended kalman filter (IMM-EKF show that the second-order solution for higher order nonlinearity as present in this paper outperforms the first-order solution, and constrained IMM-EKF obtains superior estimation than IMM-EKF without constraint. Another brownian motion individual localization example also illustrates the effectiveness of constrained nonlinear iterative least square (NILS, which gets better filtering performance than NILS without constraint.

  19. Numerical Analysis of Constrained Dynamical Systems, with Applications to Dynamic Contact of Solids, Nonlinear Elastodynamics and Fluid-Structure Interactions

    Science.gov (United States)

    2000-12-01

    for the ALE problem, but for the so-called hypoelastic models of elastoplasticity in rate form. The interest in this work, however, lies in the...34 Algorithms in Nonlinear Dynamics . 103 III.1. Introduction ................. ........................... ... 104 111.2. Model Problem I: a Nonlinear Elastic...Representative numerical simulations ...... ............. .. 123 111.3. Model Problem II: a Simplified Model of Thin Beams ... ......... ... 127 III

  20. Providing an efficient intelligent transportation system through detection, tracking and recognition of the region of interest in traffic signs by using non-linear SVM classifier in line with histogram oriented gradient and Kalman filter approach

    Indian Academy of Sciences (India)

    A H Mazinan; M Sarikhani

    2014-02-01

    With a focus on new researches in the area of intelligent transportation systems (ITS), an efficient approach has been investigated here. Based on the present view point, analysis of traffic signs are first considered via intelligence based approach, which is carried out through three main stages including detection, tracking and recognition, respectively, in this research. The key role of detection is to identify traffic signs by classification of road sign shapes in accordance with their signatures. This classification consists of four different shapes of circle, semicircle, triangle and square, as well. The linear classification of traffic sign is also carried out via support vector machine (SVM) by using one against all (OAA), since the present SVMs classifiers realized via linear kernel. The next step is to track traffic sign. It should be noted that this technique is now developed to reduce the searching mode in case of the whole area to be optimized its computational processing, consequently. This research work is investigated by realizing Kalman filter approach, where, finally, in recognition step, a feature of the region of interest (ROI) has been extracted for SVM classification. Histogram of oriented gradient (HOG) is realized in organizing the approach, as long as Gaussian kernel is also developed for non-linear SVM classifier.

  1. Multilevel Mixture Kalman Filter

    Directory of Open Access Journals (Sweden)

    Xiaodong Wang

    2004-11-01

    Full Text Available The mixture Kalman filter is a general sequential Monte Carlo technique for conditional linear dynamic systems. It generates samples of some indicator variables recursively based on sequential importance sampling (SIS and integrates out the linear and Gaussian state variables conditioned on these indicators. Due to the marginalization process, the complexity of the mixture Kalman filter is quite high if the dimension of the indicator sampling space is high. In this paper, we address this difficulty by developing a new Monte Carlo sampling scheme, namely, the multilevel mixture Kalman filter. The basic idea is to make use of the multilevel or hierarchical structure of the space from which the indicator variables take values. That is, we draw samples in a multilevel fashion, beginning with sampling from the highest-level sampling space and then draw samples from the associate subspace of the newly drawn samples in a lower-level sampling space, until reaching the desired sampling space. Such a multilevel sampling scheme can be used in conjunction with the delayed estimation method, such as the delayed-sample method, resulting in delayed multilevel mixture Kalman filter. Examples in wireless communication, specifically the coherent and noncoherent 16-QAM over flat-fading channels, are provided to demonstrate the performance of the proposed multilevel mixture Kalman filter.

  2. Impulse control in Kalman-like filtering problems

    Directory of Open Access Journals (Sweden)

    Michael V. Basin

    1998-01-01

    Full Text Available This paper develops the impulse control approach to the observation process in Kalman-like filtering problems, which is based on impulsive modeling of the transition matrix in an observation equation. The impulse control generates the jumps of the estimate variance from its current position down to zero and, as a result, enables us to obtain the filtering equations for the Kalman estimate with zero variance for all post-jump time moments. The filtering equations for the estimates with zero variances are obtained in the conventional linear filtering problem and in the case of scalar nonlinear state and nonlinear observation equations.

  3. Neural network learning of optimal Kalman prediction and control

    CERN Document Server

    Linsker, Ralph

    2008-01-01

    Although there are many neural network (NN) algorithms for prediction and for control, and although methods for optimal estimation (including filtering and prediction) and for optimal control in linear systems were provided by Kalman in 1960 (with nonlinear extensions since then), there has been, to my knowledge, no NN algorithm that learns either Kalman prediction or Kalman control (apart from the special case of stationary control). Here we show how optimal Kalman prediction and control (KPC), as well as system identification, can be learned and executed by a recurrent neural network composed of linear-response nodes, using as input only a stream of noisy measurement data. The requirements of KPC appear to impose significant constraints on the allowed NN circuitry and signal flows. The NN architecture implied by these constraints bears certain resemblances to the local-circuit architecture of mammalian cerebral cortex. We discuss these resemblances, as well as caveats that limit our current ability to draw ...

  4. Sensorless Control of Electric Motors with Kalman Filters: Applications to Robotic and Industrial Systems

    Directory of Open Access Journals (Sweden)

    Gerasimos G. Rigatos

    2011-12-01

    Full Text Available The paper studies sensorless control for DC and induction motors, using Kalman Filtering techniques. First the case of a DC motor is considered and Kalman Filter-based control is implemented. Next the nonlinear model of a field-oriented induction motor is examined and the motor

  5. Fitting aerodynamic forces in the Laplace domain: An application of a nonlinear nongradient technique to multilevel constrained optimization

    Science.gov (United States)

    Tiffany, S. H.; Adams, W. M., Jr.

    1984-01-01

    A technique which employs both linear and nonlinear methods in a multilevel optimization structure to best approximate generalized unsteady aerodynamic forces for arbitrary motion is described. Optimum selection of free parameters is made in a rational function approximation of the aerodynamic forces in the Laplace domain such that a best fit is obtained, in a least squares sense, to tabular data for purely oscillatory motion. The multilevel structure and the corresponding formulation of the objective models are presented which separate the reduction of the fit error into linear and nonlinear problems, thus enabling the use of linear methods where practical. Certain equality and inequality constraints that may be imposed are identified; a brief description of the nongradient, nonlinear optimizer which is used is given; and results which illustrate application of the method are presented.

  6. A Performance Comparison Between Extended Kalman Filter and Unscented Kalman Filter in Power System Dynamic State Estimation

    DEFF Research Database (Denmark)

    Khazraj, Hesam; Silva, Filipe Miguel Faria da; Bak, Claus Leth

    2016-01-01

    Dynamic State Estimation (DSE) is a critical tool for analysis, monitoring and planning of a power system. The concept of DSE involves designing state estimation with Extended Kalman Filter (EKF) or Unscented Kalman Filter (UKF) methods, which can be used by wide area monitoring to improve...... the stability of power system. State estimation with EKF and UKF methods can be used for monitoring and estimating the dynamic state variables of multi-machine power systems, which are generator rotor speed and rotor angle. This paper uses Powerfactory to solve power flow analysis of simulations, then a non......-linear state estimator is developed in MatLab to solve states by applying the unscented Kalman filter (UKF) and Extended Kalman Filter (EKF) algorithm. Finally, a DSE model is built for a 14 bus power system network to evaluate the proposed algorithm for the networks.This article will focus on comparing...

  7. An Unbiased Unscented Transform Based Kalman Filter for 3D Radar

    Institute of Scientific and Technical Information of China (English)

    WANGGuohong; XIUJianjuan; HEYou

    2004-01-01

    As a derivative-free alternative to the Extended Kalman filter (EKF) in the framework of state estimation, the Unscented Kalman filter (UKF) has potential applications in nonlinear filtering. By noting the fact that the unscented transform is generally biased when converting the radar measurements from spherical coordinates into Cartesian coordinates, a new filtering algorithm for 3D radar, called Unbiased unscented Kalman filter (UUKF), is proposed. The new algorithm is validated by Monte Carlo simulation runs. Simulation results show that the UUKF is more effective than the UKF, EKF and the Converted measurement Kalman filter (CMKF).

  8. A modified iterative ensemble Kalman filter data assimilation method

    Science.gov (United States)

    Xu, Baoxiong; Bai, Yulong; Wang, Yizhao; Li, Zhe; Ma, Boyang

    2017-08-01

    High nonlinearity is a typical characteristic associated with data assimilation systems. Additionally, iterative ensemble based methods have attracted a large amount of research attention, which has been focused on dealing with nonlinearity problems. To solve the local convergence problem of the iterative ensemble Kalman filter, a modified iterative ensemble Kalman filter algorithm was put forward, which was based on a global convergence strategy from the perspective of a Gauss-Newton iteration. Through self-adaption, the step factor was adjusted to enable every iteration to approach expected values during the process of the data assimilation. A sensitivity experiment was carried out in a low dimensional Lorenz-63 chaotic system, as well as a Lorenz-96 model. The new method was tested via ensemble size, observation variance, and inflation factor changes, along with other aspects. Meanwhile, comparative research was conducted with both a traditional ensemble Kalman filter and an iterative ensemble Kalman filter. The results showed that the modified iterative ensemble Kalman filter algorithm was a data assimilation method that was able to effectively estimate a strongly nonlinear system state.

  9. Constraining the halo bispectrum in real and redshift space from perturbation theory and non-linear stochastic bias

    CERN Document Server

    Kitaura, Francisco-Shu; Scoccola, Claudia; Chuang, Chia-Hsun; Müller, Volker; Yepes, Gustavo; Prada, Francisco

    2014-01-01

    We present a method to produce mock galaxy catalogues with efficient perturbation theory schemes, which match the number density, power spectra and bispectra in real and in redshift space from N-body simulations. The essential contribution of this work is the way in which we constrain the bias parameters in the PATCHY-code. In addition of aiming at reproducing the two-point statistics, we seek the set of bias parameters, which constrain the univariate halo probability distribution function (PDF) encoding higher-order correlation functions. We demonstrate that halo catalogues based on the same underlying dark matter field with a fix halo number density, and accurately matching the power spectrum (within 2%), can lead to very different bispectra depending on the adopted halo bias model. A model ignoring the shape of the halo PDF can lead to deviations up to factors of 2. The catalogues obtained additionally constraining the shape of the halo PDF can significantly lower the discrepancy in the three-point statist...

  10. Multilevel ensemble Kalman filtering

    KAUST Repository

    Hoel, Haakon

    2016-01-08

    The ensemble Kalman filter (EnKF) is a sequential filtering method that uses an ensemble of particle paths to estimate the means and covariances required by the Kalman filter by the use of sample moments, i.e., the Monte Carlo method. EnKF is often both robust and efficient, but its performance may suffer in settings where the computational cost of accurate simulations of particles is high. The multilevel Monte Carlo method (MLMC) is an extension of classical Monte Carlo methods which by sampling stochastic realizations on a hierarchy of resolutions may reduce the computational cost of moment approximations by orders of magnitude. In this work we have combined the ideas of MLMC and EnKF to construct the multilevel ensemble Kalman filter (MLEnKF) for the setting of finite dimensional state and observation spaces. The main ideas of this method is to compute particle paths on a hierarchy of resolutions and to apply multilevel estimators on the ensemble hierarchy of particles to compute Kalman filter means and covariances. Theoretical results and a numerical study of the performance gains of MLEnKF over EnKF will be presented. Some ideas on the extension of MLEnKF to settings with infinite dimensional state spaces will also be presented.

  11. Tracking speckle displacement by double Kalman filtering

    Institute of Scientific and Technical Information of China (English)

    Donghui Li; Li Guo

    2006-01-01

    @@ A tracking technique using two sequentially-connected Kalman filter for tracking laser speckle displacement is presented. One Kalman filter tracks temporal speckle displacement, while another Kalman filter tracks spatial speckle displacement. The temporal Kalman filter provides a prior for the spatial Kalman filter, and the spatial Kalman filter provides measurements for the temporal Kalman filter. The contribution of a prior to estimations of the spatial Kalman filter is analyzed. An optical analysis system was set up to verify the double-Kalman-filter tracker's ability of tracking laser speckle's constant displacement.

  12. Constrained non-linear optimization in 3D reflexion tomography; Problemes d'optimisation non-lineaire avec contraintes en tomographie de reflexion 3D

    Energy Technology Data Exchange (ETDEWEB)

    Delbos, F.

    2004-11-01

    Reflexion tomography allows the determination of a subsurface velocity model from the travel times of seismic waves. The introduction of a priori information in this inverse problem can lead to the resolution of a constrained non-linear least-squares problem. The goal of the thesis is to improve the resolution techniques of this optimization problem, whose main difficulties are its ill-conditioning, its large scale and an expensive cost function in terms of CPU time. Thanks to a detailed study of the problem and to numerous numerical experiments, we justify the use of a sequential quadratic programming method, in which the tangential quadratic programs are solved by an original augmented Lagrangian method. We show the global linear convergence of the latter. The efficiency and robustness of the approach are demonstrated on several synthetic examples and on two real data cases. (author)

  13. MEMS IMU/GNSS 联邦卡尔曼滤波中的基于四元数的约束算法%Quaternion based constrained algorithm in federated Kalman filtering for MEMS IMU/GNSS

    Institute of Scientific and Technical Information of China (English)

    刘华; 刘彤

    2013-01-01

      当全球导航卫星系统(GNSS)失效时,微硅机械(MEMS)惯性测量单元(IMU)与GNSS 组合而成的导航系统性能会下降。针对于陆地车辆的导航应用,建立了一个联邦卡尔曼滤波器,四元数是其中一个局部滤波器的部分待估计状态。四元数所得到推算的沿车辆机体坐标系的加速度约束扩展了滤波器的观测量。车载试验表明,与传统滤波算法相比,使用该算法可使三维位置导航精度在 GNSS 信号失效30 s 时提高25%,姿态和速度精度也相应的提高。%  The performance of MEMS IMU/GNSS integrated system would degrade with outages of GNSS signal. For land vehicle applications, a federated Kalman filter was established. The quaternion was employed as part of states in one of the local filters. The acceleration constraint derived from quaternion was applied along the vehicle’s body frame to expand observables in the filter. The field test shows that, compared with conventional filtering algorithms, the proposed algorithm brings 25% performance improvement in three-dimension(3D) positioning during 30 s GNSS outages. The accuracy of attitude and velocity is improved as well.

  14. A Kalman decomposition to detect temporal linear system srtucture

    NARCIS (Netherlands)

    Willigenburg, Van L.G.; Koning, De W.L.

    2015-01-01

    Feedback controllers for non-linear systems are often based on a linearized dynamic model. Such a linearized model may be temporarily uncontrollable and/or unreconstructable. This paper introduces the so-called differential Kalman decomposition of time-varying linear systems. It is based on

  15. A Computationally Efficient and Robust Implementation of the Continuous-Discrete Extended Kalman Filter

    DEFF Research Database (Denmark)

    Jørgensen, John Bagterp; Thomsen, Per Grove; Madsen, Henrik;

    2007-01-01

    We present a novel numerically robust and computationally efficient extended Kalman filter for state estimation in nonlinear continuous-discrete stochastic systems. The resulting differential equations for the mean-covariance evolution of the nonlinear stochastic continuous-discrete time systems...... are solved efficiently using an ESDIRK integrator with sensitivity analysis capabilities. This ESDIRK integrator for the mean- covariance evolution is implemented as part of an extended Kalman filter and tested on a PDE system. For moderate to large sized systems, the ESDIRK based extended Kalman filter...

  16. Adaptive high-gain extended kalman filter and applications

    OpenAIRE

    Boizot, Nicolas Richard

    2010-01-01

    The work concerns the ``observability problem” --- the reconstruction of a dynamic process's full state from a partially measured state--- for nonlinear dynamic systems. The Extended Kalman Filter (EKF) is a widely-used observer for such nonlinear systems. However it suffers from a lack of theoretical justifications and displays poor performance when the estimated state is far from the real state, e.g. due to large perturbations, a poor initial state estimate, etc… We propose a solution to...

  17. 4DVAR by ensemble Kalman smoother

    CERN Document Server

    Mandel, Jan; Gratton, Serge

    2013-01-01

    We propose to use the ensemble Kalman smoother (EnKS) as linear least squares solver in the Gauss-Newton method for the large nonlinear least squares in incremental 4DVAR. The ensemble approach is naturally parallel over the ensemble members and no tangent or adjoint operators are needed. Further, adding a regularization term results in replacing the Gauss-Newton method, which may diverge, by^M the Levenberg-Marquardt method, which is known to be convergent. The regularization is implemented efficiently as an additional observation in the EnKS.

  18. 基于非线性滤波估计的北斗B1 QPSK信号跟踪方法%BeiDou B1 quadrature phase shift keying carrier tracking method based on nonlinear Kalman filter

    Institute of Scientific and Technical Information of China (English)

    李荣冰; 黄隽祎; 刘建业; 谢非

    2014-01-01

    Doppler shift and signal power attenuation in the complex environment both can make damage in the accuracy of carrier tracking. Therefore, the non-linear Kalman filter for carrier tracking is designed, which makes correlated observations in the EKF and UKF model based on the analysis of the structure of BeiDou B1 signal. By using measurements from the estimation of filtering in feedback control of the carrier tracking loop, higher and more stable performance can be given in high dynamic and weak signal environments. Finally, the test results show that the feedback control-based EKF and UKF model can perform precise carrier tracking, and make a good limitation of loop error, both of which lead to realization of high performance of signal tracking.%复杂环境下的多普勒频移变化及信号功率衰减均会对载波准确跟踪造成影响。在研究北斗卫星B1频点信号结构的基础上,建立以环路中相关积分值为观测量的非线性EKF模型和UKF模型,并提出利用滤波估计状态量进行状态反馈控制的方法,从而解决了载波跟踪环路在高动态及弱信号环境中难以高性能工作的问题。实验结果表明,状态反馈控制的EKF模型和UKF滤波模型能准确地跟踪弱信号及高动态下的信号变化,从而有效控制跟踪误差,为实现快速准确的载波跟踪奠定了基础。

  19. GLOBAL CONVERGENCE OF TRUST REGION ALGORITHM FOR EQUALITY AND BOUND CONSTRAINED NONLINEAR OPTIMIZATION%等式与界约束非线性优化信赖域算法的全局收敛

    Institute of Scientific and Technical Information of China (English)

    童小娇; 周叔子

    2003-01-01

    This paper presents a trust region two-phase model algorithm for solving the equality and bound constrained nonlinear optimization problem. A concept of substationary point is given. Under suitable assumptions,the global convergence of this algorithm is proved without assuming the linear independence of the gradient of active constraints. A numerical example is also presented.

  20. Kalman Filter Constraint Tuning for Turbofan Engine Health Estimation

    Science.gov (United States)

    Simon, Dan; Simon, Donald L.

    2005-01-01

    Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints are often neglected because they do not fit easily into the structure of the Kalman filter. Recently published work has shown a new method for incorporating state variable inequality constraints in the Kalman filter, which has been shown to generally improve the filter s estimation accuracy. However, the incorporation of inequality constraints poses some risk to the estimation accuracy as the Kalman filter is theoretically optimal. This paper proposes a way to tune the filter constraints so that the state estimates follow the unconstrained (theoretically optimal) filter when the confidence in the unconstrained filter is high. When confidence in the unconstrained filter is not so high, then we use our heuristic knowledge to constrain the state estimates. The confidence measure is based on the agreement of measurement residuals with their theoretical values. The algorithm is demonstrated on a linearized simulation of a turbofan engine to estimate engine health.

  1. Sliding Mode Predictive Control Scheme for Constrained Nonlinear Systems%约束非线性系统的滑模预测控制方法

    Institute of Scientific and Technical Information of China (English)

    周建锁; 刘志远; 裴润

    2001-01-01

    将预测控制和滑模控制结合起来,提出一种新的非线性模型预测控制方法。通过对系统状态预测得到切换函数预测值,求解约束开环优化求得预测控制律,并将当前时刻的控制作用于对象,下一时刻重复此过程。该方法具有预测控制在线处理约束及滑模控制滑动模态对干扰的不变性的优点。分析了零终端滑模约束模型预测控制的稳定性。%A new nonlinear model predictive control(NLMPC) scheme isproposed, which combines the predictive control and the sliding mode control(SMC). By predicting the system state, the pre-designed switching function is predicted, then the control law can be found by solving constrained open-loop optimal control problem. The current control is implemented, and then the optimizing procedure is repeated at the next sampling time. The proposed scheme, which has advantages of NLMPC and SMC, can deal with system constraints on-line and has strong robustness on the sliding surface. By constraining terminal sliding mode to be zero, the stability of MPC system is analyzed.

  2. Bias aware Kalman filters

    DEFF Research Database (Denmark)

    Drecourt, J.-P.; Madsen, H.; Rosbjerg, Dan

    2006-01-01

    . The colored noise filter formulation is extended to correct both time correlated and uncorrelated model error components. A more stable version of the separate filter without feedback is presented. The filters are implemented in an ensemble framework using Latin hypercube sampling. The techniques...... are illustrated on a simple one-dimensional groundwater problem. The results show that the presented filters outperform the standard Kalman filter and that the implementations with bias feedback work in more general conditions than the implementations without feedback. 2005 Elsevier Ltd. All rights reserved....

  3. Multilevel ensemble Kalman filtering

    KAUST Repository

    Hoel, Hakon

    2016-06-14

    This work embeds a multilevel Monte Carlo sampling strategy into the Monte Carlo step of the ensemble Kalman filter (EnKF) in the setting of finite dimensional signal evolution and noisy discrete-time observations. The signal dynamics is assumed to be governed by a stochastic differential equation (SDE), and a hierarchy of time grids is introduced for multilevel numerical integration of that SDE. The resulting multilevel EnKF is proved to asymptotically outperform EnKF in terms of computational cost versus approximation accuracy. The theoretical results are illustrated numerically.

  4. Robust Kriged Kalman Filtering

    Energy Technology Data Exchange (ETDEWEB)

    Baingana, Brian; Dall' Anese, Emiliano; Mateos, Gonzalo; Giannakis, Georgios B.

    2015-11-11

    Although the kriged Kalman filter (KKF) has well-documented merits for prediction of spatial-temporal processes, its performance degrades in the presence of outliers due to anomalous events, or measurement equipment failures. This paper proposes a robust KKF model that explicitly accounts for presence of measurement outliers. Exploiting outlier sparsity, a novel l1-regularized estimator that jointly predicts the spatial-temporal process at unmonitored locations, while identifying measurement outliers is put forth. Numerical tests are conducted on a synthetic Internet protocol (IP) network, and real transformer load data. Test results corroborate the effectiveness of the novel estimator in joint spatial prediction and outlier identification.

  5. Deterministic Mean-Field Ensemble Kalman Filtering

    KAUST Repository

    Law, Kody J. H.

    2016-05-03

    The proof of convergence of the standard ensemble Kalman filter (EnKF) from Le Gland, Monbet, and Tran [Large sample asymptotics for the ensemble Kalman filter, in The Oxford Handbook of Nonlinear Filtering, Oxford University Press, Oxford, UK, 2011, pp. 598--631] is extended to non-Gaussian state-space models. A density-based deterministic approximation of the mean-field limit EnKF (DMFEnKF) is proposed, consisting of a PDE solver and a quadrature rule. Given a certain minimal order of convergence k between the two, this extends to the deterministic filter approximation, which is therefore asymptotically superior to standard EnKF for dimension d<2k. The fidelity of approximation of the true distribution is also established using an extension of the total variation metric to random measures. This is limited by a Gaussian bias term arising from nonlinearity/non-Gaussianity of the model, which arises in both deterministic and standard EnKF. Numerical results support and extend the theory.

  6. Instantaneous spectrum estimation of earthquake ground motions based on unscented Kalman filter method

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Representing earthquake ground motion as time varying ARMA model, the instantaneous spectrum can only be determined by the time varying coefficients of the corresponding ARMA model. In this paper, unscented Kalman filter is applied to estimate the time varying coefficients. The comparison between the estimation results of unscented Kalman filter and Kalman filter methods shows that unscented Kalman filter can more precisely represent the distribution of the spectral peaks in time-frequency plane than Kalman filter, and its time and frequency resolution is finer which ensures its better ability to track the local properties of earthquake ground motions and to identify the systems with nonlinearity or abruptness. Moreover, the estimation results of ARMA models with different orders indicate that the theoretical frequency resolving power ofARMA model which was usually ignored in former studies has great effect on the estimation precision of instantaneous spectrum and it should be taken as one of the key factors in order selection of ARMA model.

  7. An aperiodic phenomenon of the unscented Kalman filter in filtering noisy chaotic signals

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A non-periodic oscillatory behavior of the unscented Kalman filter (UKF) when used to filter noisy contaminated chaotic signals is reported. We show both theoretically and experimentally that the gain of the UKF may not converge or diverge but oscillate aperiodically. More precisely, when a nonlinear system is periodic, the Kalman gain and error covariance of the UKF converge to zero. However, when the system being considered is chaotic, the Kalman gain either converges to a fixed point with a magnitude larger than zero or oscillates aperiodically.

  8. An Extended Kalman Filter with a Computed Mean Square Error Bound

    OpenAIRE

    Hexner, Gyorgy; Weiss, Haim

    2014-01-01

    The paper proposes a new recursive filter for non-linear systems that inherently computes a valid bound on the mean square estimation error. The proposed filter, bound based extended Kalman, (BEKF) is in the form of an extended Kalman filter. The main difference of the proposed filter from the conventional extended Kalman filter is in the use of a computed mean square error bound matrix, to calculate the filter gain, and to serve as bound on the actual mean square error. The paper shows that ...

  9. Comparison of Sigma-Point and Extended Kalman Filters on a Realistic Orbit Determination Scenario

    Science.gov (United States)

    Gaebler, John; Hur-Diaz. Sun; Carpenter, Russell

    2010-01-01

    Sigma-point filters have received a lot of attention in recent years as a better alternative to extended Kalman filters for highly nonlinear problems. In this paper, we compare the performance of the additive divided difference sigma-point filter to the extended Kalman filter when applied to orbit determination of a realistic operational scenario based on the Interstellar Boundary Explorer mission. For the scenario studied, both filters provided equivalent results. The performance of each is discussed in detail.

  10. Comparison of Sigma-Point and Extended Kalman Filters on a Realistic Orbit Determination Scenario

    Science.gov (United States)

    Gaebler, John; Hur-Diaz. Sun; Carpenter, Russell

    2010-01-01

    Sigma-point filters have received a lot of attention in recent years as a better alternative to extended Kalman filters for highly nonlinear problems. In this paper, we compare the performance of the additive divided difference sigma-point filter to the extended Kalman filter when applied to orbit determination of a realistic operational scenario based on the Interstellar Boundary Explorer mission. For the scenario studied, both filters provided equivalent results. The performance of each is discussed in detail.

  11. Ensemble-Type Kalman Filter Algorithm conserving mass, total energy and enstrophy

    Science.gov (United States)

    Zeng, Yuefei; Janjic, Tijana; Ruckstuhl, Yvonne; Verlaan, Martin

    2017-04-01

    In a recent study (Zeng and Janjic 2016), we explored the effect on conservation properties of data assimilation using perfect model experiments with a 2D shallow water model preserving important properties of the true nonlinear flow. It was found that during the assimilation with the ensemble Kalman filter algorithm, the total energy of the analysis ensemble mean converges towards the nature run value with time. However, the enstrophy, divergence and energy spectra were strongly affected by the data assimilation settings. We tested the effects on the prediction depending on the type of error in the initial condition and showed that the accumulated noise during assimilation and the error of analysis are good indicators of the quality of the prediction. Having in mind that the conservation of both the kinetic energy and enstrophy by momentum advection schemes in the case of non-divergent flow prevents a systematic and unrealistic energy cascade towards the high wave numbers, we constructed the ensemble data assimilation algorithm that conserves both energy and enstrophy. This is done by extending QPEns (Janjic et al. 2014) to allow for nonlinear constraints using, instead of quadratic programming, the sequential quadratic programming algorithm. Experiments with the 2D shallow water model show similar RMSEs of the algorithm without constraints and the algorithm with only the total energy constrained. The algorithm which constraints enstrophy as well as energy and enstrophy during data assimilation showed smaller RMSE to the one without the constraint on enstrophy. Similar behavior can be seen in the energy spectrum where algorithms which include the constraint on enstrophy are closer to the true spectrum, in particular for wavelengths between 200 km and 1000 km. The enstrophy constraint resulted in a reduction of noise during data assimilation. Finally, the algorithm, with both energy and enstrophy constraint showed the smallest error growth during the two weeks

  12. Hybrid Kalman Filter: A New Approach for Aircraft Engine In-Flight Diagnostics

    Science.gov (United States)

    Kobayashi, Takahisa; Simon, Donald L.

    2006-01-01

    In this paper, a uniquely structured Kalman filter is developed for its application to in-flight diagnostics of aircraft gas turbine engines. The Kalman filter is a hybrid of a nonlinear on-board engine model (OBEM) and piecewise linear models. The utilization of the nonlinear OBEM allows the reference health baseline of the in-flight diagnostic system to be updated to the degraded health condition of the engines through a relatively simple process. Through this health baseline update, the effectiveness of the in-flight diagnostic algorithm can be maintained as the health of the engine degrades over time. Another significant aspect of the hybrid Kalman filter methodology is its capability to take advantage of conventional linear and nonlinear Kalman filter approaches. Based on the hybrid Kalman filter, an in-flight fault detection system is developed, and its diagnostic capability is evaluated in a simulation environment. Through the evaluation, the suitability of the hybrid Kalman filter technique for aircraft engine in-flight diagnostics is demonstrated.

  13. Maximum Correntropy Unscented Kalman Filter for Spacecraft Relative State Estimation.

    Science.gov (United States)

    Liu, Xi; Qu, Hua; Zhao, Jihong; Yue, Pengcheng; Wang, Meng

    2016-09-20

    A new algorithm called maximum correntropy unscented Kalman filter (MCUKF) is proposed and applied to relative state estimation in space communication networks. As is well known, the unscented Kalman filter (UKF) provides an efficient tool to solve the non-linear state estimate problem. However, the UKF usually plays well in Gaussian noises. Its performance may deteriorate substantially in the presence of non-Gaussian noises, especially when the measurements are disturbed by some heavy-tailed impulsive noises. By making use of the maximum correntropy criterion (MCC), the proposed algorithm can enhance the robustness of UKF against impulsive noises. In the MCUKF, the unscented transformation (UT) is applied to obtain a predicted state estimation and covariance matrix, and a nonlinear regression method with the MCC cost is then used to reformulate the measurement information. Finally, the UT is adopted to the measurement equation to obtain the filter state and covariance matrix. Illustrative examples demonstrate the superior performance of the new algorithm.

  14. Minimal constrained supergravity

    Directory of Open Access Journals (Sweden)

    N. Cribiori

    2017-01-01

    Full Text Available We describe minimal supergravity models where supersymmetry is non-linearly realized via constrained superfields. We show that the resulting actions differ from the so called “de Sitter” supergravities because we consider constraints eliminating directly the auxiliary fields of the gravity multiplet.

  15. VLBI TRF determination via Kalman filtering

    Science.gov (United States)

    Soja, Benedikt; Karbon, Maria; Nilsson, Tobias; Glaser, Susanne; Balidakis, Kyriakos; Heinkelmann, Robert; Schuh, Harald

    2015-04-01

    avoid geophysical misinterpretation of the station coordinate variations, we have included external data from water vapor radiometers and GNSS in our comparisons. Another cause for non-linear station motions are earthquakes and other episodic events that result in an offset of up to a few meters in the station coordinate time series. The non-linear post-seismic behavior can last from a few months up to several years and is another challenge for the creation of TRF. By using a Kalman filter, we have the possibility to dynamically adjust the stochastic model, loosening it in case of earthquakes, post-seismic activity, and comparable events and tightening the movement during quiet times. By analyzing more than 30 years of VLBI observations with the Kalman filter we have created a TRF-like product consisting of subdaily station coordinates. The TRF stability, which is otherwise gained by enforcing a linear model, is here realized by appropriate stochastic modeling. In addition to the advantages related to the modeling of non-linear station motion mentioned above, it has the great benefit of being easily updated when new observational data becomes available, in the future possibly in near real-time.

  16. FUZZY OPTIMIZATION USING EXTENDED KALMAN FILTER

    Directory of Open Access Journals (Sweden)

    M.DIVYA

    2013-01-01

    Full Text Available Fuzzy Logic is based on the idea that in fuzzy sets each element in the set can assume a value from 0 to 1, not only 0 or 1, as in crisp set theory. The degree of membership function is defined as the gradation in the extent to which an element is belonging to the relevant sets. Optimizing the membership functions of a fuzzy system can be viewed as a system identification problem for nonlinear dynamic system. In this paper two input and one output fuzzy controller is designed for the dynamic process of aircraft. The addition of an EKF in the feedback loop improved the system response by blocking possible effects of measurement error based on Predictor-Corrector algorithm. An Extended Kalman Filter approach to optimize the membership functions of the inputs and outputs of the fuzzy controller. The performance of the fuzzy system before and after the optimization are compared, as well as the membership functions.

  17. Detection of Harmonic Occurring using Kalman Filtering

    DEFF Research Database (Denmark)

    Hussain, Dil Muhammad Akbar; Shoro, Ghulam Mustafa; Imran, Raja Muhammed

    2014-01-01

    As long as the load to a power system is linear which has been the case before 80's, typically no harmonics are produced. However, the modern power electronic equipment for controlled power consumption produces harmonic disturbances, these devices/equipment possess nonlinear voltage/current chara...... using Kalman filter. This may be very useful for example to quickly switching on certain filters based on the harmonic present. We are using a unique technique to detect the occurrence of harmonics......./current characteristic. These harmonics are not to be allowed to grow beyond a certain limit to avoid any grave consequence to the customer’s main supply. Filters can be implemented at the power source or utility location to eliminate these harmonics. In this paper we detect the instance at which these harmonics occur...

  18. Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems

    Directory of Open Access Journals (Sweden)

    Chien-Hao Tseng

    2016-07-01

    Full Text Available This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF and fuzzy logic adaptive system (FLAS for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF, unscented Kalman filter (UKF, and CKF approaches.

  19. Low-Rank Kalman Filtering in Subsurface Contaminant Transport Models

    KAUST Repository

    El Gharamti, Mohamad

    2010-12-01

    Understanding the geology and the hydrology of the subsurface is important to model the fluid flow and the behavior of the contaminant. It is essential to have an accurate knowledge of the movement of the contaminants in the porous media in order to track them and later extract them from the aquifer. A two-dimensional flow model is studied and then applied on a linear contaminant transport model in the same porous medium. Because of possible different sources of uncertainties, the deterministic model by itself cannot give exact estimations for the future contaminant state. Incorporating observations in the model can guide it to the true state. This is usually done using the Kalman filter (KF) when the system is linear and the extended Kalman filter (EKF) when the system is nonlinear. To overcome the high computational cost required by the KF, we use the singular evolutive Kalman filter (SEKF) and the singular evolutive extended Kalman filter (SEEKF) approximations of the KF operating with low-rank covariance matrices. The SEKF can be implemented on large dimensional contaminant problems while the usage of the KF is not possible. Experimental results show that with perfect and imperfect models, the low rank filters can provide as much accurate estimates as the full KF but at much less computational cost. Localization can help the filter analysis as long as there are enough neighborhood data to the point being analyzed. Estimating the permeabilities of the aquifer is successfully tackled using both the EKF and the SEEKF.

  20. Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems.

    Science.gov (United States)

    Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing

    2016-07-26

    This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches.

  1. Iterated unscented Kalman filter for phase unwrapping of interferometric fringes.

    Science.gov (United States)

    Xie, Xianming

    2016-08-22

    A fresh phase unwrapping algorithm based on iterated unscented Kalman filter is proposed to estimate unambiguous unwrapped phase of interferometric fringes. This method is the result of combining an iterated unscented Kalman filter with a robust phase gradient estimator based on amended matrix pencil model, and an efficient quality-guided strategy based on heap sort. The iterated unscented Kalman filter that is one of the most robust methods under the Bayesian theorem frame in non-linear signal processing so far, is applied to perform simultaneously noise suppression and phase unwrapping of interferometric fringes for the first time, which can simplify the complexity and the difficulty of pre-filtering procedure followed by phase unwrapping procedure, and even can remove the pre-filtering procedure. The robust phase gradient estimator is used to efficiently and accurately obtain phase gradient information from interferometric fringes, which is needed for the iterated unscented Kalman filtering phase unwrapping model. The efficient quality-guided strategy is able to ensure that the proposed method fast unwraps wrapped pixels along the path from the high-quality area to the low-quality area of wrapped phase images, which can greatly improve the efficiency of phase unwrapping. Results obtained from synthetic data and real data show that the proposed method can obtain better solutions with an acceptable time consumption, with respect to some of the most used algorithms.

  2. A mollified Ensemble Kalman filter

    CERN Document Server

    Bergemann, Kay

    2010-01-01

    It is well recognized that discontinuous analysis increments of sequential data assimilation systems, such as ensemble Kalman filters, might lead to spurious high frequency adjustment processes in the model dynamics. Various methods have been devised to continuously spread out the analysis increments over a fixed time interval centered about analysis time. Among these techniques are nudging and incremental analysis updates (IAU). Here we propose another alternative, which may be viewed as a hybrid of nudging and IAU and which arises naturally from a recently proposed continuous formulation of the ensemble Kalman analysis step. A new slow-fast extension of the popular Lorenz-96 model is introduced to demonstrate the properties of the proposed mollified ensemble Kalman filter.

  3. Application of Extended Kalman Filter to Tactical Ballistic Missile Re-entry Problem

    CERN Document Server

    Bhowmik, Subrata

    2007-01-01

    The objective is to investigate the advantages and performance of Extended Kalman Filter for the estimation of non-linear system where linearization takes place about a trajectory that was continually updated with the state estimates resulting from the measurement. Here tactile ballistic missile Re-entry problem is taken as a nonlinear system model and Extended Kalman Filter technique is used to estimate the positions and velocities at the X and Y direction at different values of ballistic coefficients. The result shows that the method gives better estimation with the increase of ballistic coefficient.

  4. Penggunaan Extended Kalman Filter Sebagai Estimator Sikap pada Sistem Kendali Servo Visual Robot

    Directory of Open Access Journals (Sweden)

    Noor Cholis Basjaruddin

    2012-03-01

    Full Text Available Extended Kalman Filter (EKF is the non-linear version of Kalman filter and the said filter is usually used in nonlinear state estimation. In this study EKF is applied to process the image features of a single camera mounted on the end effector of a robot. Data generated by the EKF then is to be processed to obtain the motion parameters. Simulation of visual servo control system was built with the aim to examine the use of the EKF as a pose estimator. The simulation results using Matlab show that the EKF is able to well estimate the robot pose. 

  5. Penggunaan Extended Kalman Filter Sebagai Estimator Sikap pada Sistem Kendali Servo Visual Robot

    OpenAIRE

    Noor Cholis Basjaruddin

    2012-01-01

    Extended Kalman Filter (EKF) is the non-linear version of Kalman filter and the said filter is usually used in nonlinear state estimation. In this study EKF is applied to process the image features of a single camera mounted on the end effector of a robot. Data generated by the EKF then is to be processed to obtain the motion parameters. Simulation of visual servo control system was built with the aim to examine the use of the EKF as a pose estimator. The simulation results using Matlab show ...

  6. Attitude determination and calibration using a recursive maximum likelihood-based adaptive Kalman filter

    Science.gov (United States)

    Kelly, D. A.; Fermelia, A.; Lee, G. K. F.

    1990-01-01

    An adaptive Kalman filter design that utilizes recursive maximum likelihood parameter identification is discussed. At the center of this design is the Kalman filter itself, which has the responsibility for attitude determination. At the same time, the identification algorithm is continually identifying the system parameters. The approach is applicable to nonlinear, as well as linear systems. This adaptive Kalman filter design has much potential for real time implementation, especially considering the fast clock speeds, cache memory and internal RAM available today. The recursive maximum likelihood algorithm is discussed in detail, with special attention directed towards its unique matrix formulation. The procedure for using the algorithm is described along with comments on how this algorithm interacts with the Kalman filter.

  7. Kalman filtering implementation with Matlab

    OpenAIRE

    Kleinbauer, Rachel

    2004-01-01

    1960 und 1961 veröffentlichte Rudolf Emil Kalmen seine Arbeiten über einen rekursiven prädiktiven Filter, der auf dem Gebrauch von rekursiven Algorithmen basiert. Damit revolutionierte er das Feld der Schätzverfahren. Seitdem ist der sogenannte Kalman Filter Gegenstand ausführlicher Forschung und findet bis heute Anwendung in zahlreichen Gebieten. Der Kalman Filter schätzt den Zustand eines dynamischen Systems, auch wenn die exakte Form dieses Systems unbekannt ist. Der Filter ist sehr lei...

  8. A new deterministic Ensemble Kalman Filter with one-step-ahead smoothing for storm surge forecasting

    KAUST Repository

    Raboudi, Naila

    2016-11-01

    The Ensemble Kalman Filter (EnKF) is a popular data assimilation method for state-parameter estimation. Following a sequential assimilation strategy, it breaks the problem into alternating cycles of forecast and analysis steps. In the forecast step, the dynamical model is used to integrate a stochastic sample approximating the state analysis distribution (called analysis ensemble) to obtain a forecast ensemble. In the analysis step, the forecast ensemble is updated with the incoming observation using a Kalman-like correction, which is then used for the next forecast step. In realistic large-scale applications, EnKFs are implemented with limited ensembles, and often poorly known model errors statistics, leading to a crude approximation of the forecast covariance. This strongly limits the filter performance. Recently, a new EnKF was proposed in [1] following a one-step-ahead smoothing strategy (EnKF-OSA), which involves an OSA smoothing of the state between two successive analysis. At each time step, EnKF-OSA exploits the observation twice. The incoming observation is first used to smooth the ensemble at the previous time step. The resulting smoothed ensemble is then integrated forward to compute a "pseudo forecast" ensemble, which is again updated with the same observation. The idea of constraining the state with future observations is to add more information in the estimation process in order to mitigate for the sub-optimal character of EnKF-like methods. The second EnKF-OSA "forecast" is computed from the smoothed ensemble and should therefore provide an improved background. In this work, we propose a deterministic variant of the EnKF-OSA, based on the Singular Evolutive Interpolated Ensemble Kalman (SEIK) filter. The motivation behind this is to avoid the observations perturbations of the EnKF in order to improve the scheme\\'s behavior when assimilating big data sets with small ensembles. The new SEIK-OSA scheme is implemented and its efficiency is demonstrated

  9. Indirect Kalman Filter in Mobile Robot Application

    Directory of Open Access Journals (Sweden)

    Surachai Panich

    2010-01-01

    Full Text Available Problem statement: The most successful applications of Kalman filtering are to linearize about some nominal trajectory in state space that does not depend on the measurement data. The resulting filter is usually referred to as simply a linearized Kalman filter. Approach: This study introduced mainly indirect Kalman filter to estimate robot’s position. A developed differential encoder system integrated accelerometer is experimental tested in square shape. Results: Experimental results confirmed that indirect Kalman filter improves the accuracy and confidence of position estimation. Conclusion: In summary, we concluded that indirect Kalman filter has good potential to reduce error of measurement data.

  10. On the evaluation of uncertainties for state estimation with the Kalman filter

    Science.gov (United States)

    Eichstädt, S.; Makarava, N.; Elster, C.

    2016-12-01

    The Kalman filter is an established tool for the analysis of dynamic systems with normally distributed noise, and it has been successfully applied in numerous areas. It provides sequentially calculated estimates of the system states along with a corresponding covariance matrix. For nonlinear systems, the extended Kalman filter is often used. This is derived from the Kalman filter by linearization around the current estimate. A key issue in metrology is the evaluation of the uncertainty associated with the Kalman filter state estimates. The ‘Guide to the Expression of Uncertainty in Measurement’ (GUM) and its supplements serve as the de facto standard for uncertainty evaluation in metrology. We explore the relationship between the covariance matrix produced by the Kalman filter and a GUM-compliant uncertainty analysis. In addition, the results of a Bayesian analysis are considered. For the case of linear systems with known system matrices, we show that all three approaches are compatible. When the system matrices are not precisely known, however, or when the system is nonlinear, this equivalence breaks down and different results can then be reached. For precisely known nonlinear systems, though, the result of the extended Kalman filter still corresponds to the linearized uncertainty propagation of the GUM. The extended Kalman filter can suffer from linearization and convergence errors. These disadvantages can be avoided to some extent by applying Monte Carlo procedures, and we propose such a method which is GUM-compliant and can also be applied online during the estimation. We illustrate all procedures in terms of a 2D dynamic system and compare the results with those obtained by particle filtering, which has been proposed for the approximate calculation of a Bayesian solution. Finally, we give some recommendations based on our findings.

  11. Weighted ensemble transform Kalman filter for image assimilation

    Directory of Open Access Journals (Sweden)

    Sebastien Beyou

    2013-01-01

    Full Text Available This study proposes an extension of the Weighted Ensemble Kalman filter (WEnKF proposed by Papadakis et al. (2010 for the assimilation of image observations. The main focus of this study is on a novel formulation of the Weighted filter with the Ensemble Transform Kalman filter (WETKF, incorporating directly as a measurement model a non-linear image reconstruction criterion. This technique has been compared to the original WEnKF on numerical and real world data of 2-D turbulence observed through the transport of a passive scalar. In particular, it has been applied for the reconstruction of oceanic surface current vorticity fields from sea surface temperature (SST satellite data. This latter technique enables a consistent recovery along time of oceanic surface currents and vorticity maps in presence of large missing data areas and strong noise.

  12. Convergence study in extended Kalman filter-based training of recurrent neural networks.

    Science.gov (United States)

    Wang, Xiaoyu; Huang, Yong

    2011-04-01

    Recurrent neural network (RNN) has emerged as a promising tool in modeling nonlinear dynamical systems, but the training convergence is still of concern. This paper aims to develop an effective extended Kalman filter-based RNN training approach with a controllable training convergence. The training convergence problem during extended Kalman filter-based RNN training has been proposed and studied by adapting two artificial training noise parameters: the covariance of measurement noise (R) and the covariance of process noise (Q) of Kalman filter. The R and Q adaption laws have been developed using the Lyapunov method and the maximum likelihood method, respectively. The effectiveness of the proposed adaption laws has been tested using a nonlinear dynamical benchmark system and further applied in cutting tool wear modeling. The results show that the R adaption law can effectively avoid the divergence problem and ensure the training convergence, whereas the Q adaption law helps improve the training convergence speed.

  13. Constrained Sparse Galerkin Regression

    CERN Document Server

    Loiseau, Jean-Christophe

    2016-01-01

    In this work, we demonstrate the use of sparse regression techniques from machine learning to identify nonlinear low-order models of a fluid system purely from measurement data. In particular, we extend the sparse identification of nonlinear dynamics (SINDy) algorithm to enforce physical constraints in the regression, leading to energy conservation. The resulting models are closely related to Galerkin projection models, but the present method does not require the use of a full-order or high-fidelity Navier-Stokes solver to project onto basis modes. Instead, the most parsimonious nonlinear model is determined that is consistent with observed measurement data and satisfies necessary constraints. The constrained Galerkin regression algorithm is implemented on the fluid flow past a circular cylinder, demonstrating the ability to accurately construct models from data.

  14. Mixtures of skewed Kalman filters

    KAUST Repository

    Kim, Hyoungmoon

    2014-01-01

    Normal state-space models are prevalent, but to increase the applicability of the Kalman filter, we propose mixtures of skewed, and extended skewed, Kalman filters. To do so, the closed skew-normal distribution is extended to a scale mixture class of closed skew-normal distributions. Some basic properties are derived and a class of closed skew. t distributions is obtained. Our suggested family of distributions is skewed and has heavy tails too, so it is appropriate for robust analysis. Our proposed special sequential Monte Carlo methods use a random mixture of the closed skew-normal distributions to approximate a target distribution. Hence it is possible to handle skewed and heavy tailed data simultaneously. These methods are illustrated with numerical experiments. © 2013 Elsevier Inc.

  15. Evaluation of two modified Kalman gain algorithms for radar data assimilation in the WRF model

    Directory of Open Access Journals (Sweden)

    Chun Yang

    2015-05-01

    Full Text Available This work attempts to validate two modified Kalman gain algorithms by assimilating a single radar simulation data set into the Weather Research and Forecasting model using an Ensemble Square Root Filter. Emphasis is placed on the comparison of assimilation performance between the two modified algorithms against the classical Kalman gain algorithm when the measurement operator is non-linear. Three ideal storm-scale experiments, which are configured identically except for the different Kalman gain algorithms, are designed in parallel for this purpose. The results show that the first modified algorithm can result in a better simulation of a storm, as measured by the root mean square error (RMSE. The second algorithm can also, to some extent, reduce the RMSE of the simulation of some state vectors, but with little improvement of the estimation of storm intensity. Overall, our preliminary experiments indicate that the two modified Kalman gain algorithms can benefit the assimilation of complex numerical models when the measurement operators are non-linear, confirming the earlier theoretical analysis and the results of simple models. Further work is needed to evaluate the impact of the modified Kalman gain algorithms on the assimilation performance of ensemble-based methods.

  16. Introduction au filtre de Kalman

    OpenAIRE

    Alazard, Daniel

    2006-01-01

    Ce document est une introduction au filtre optimal de Kalman appliquée aux systèmes linéaires. On suppose connues la théorie des asservissements linéaires et du filtrage fréquentiel (continu et discret) ainsi que les notions d'états pour représenter les systèmes dynamiques linéaires.

  17. Implementation of Kalman Filter with Python Language

    CERN Document Server

    Laaraiedh, Mohamed

    2012-01-01

    In this paper, we investigate the implementation of a Python code for a Kalman Filter using the Numpy package. A Kalman Filtering is carried out in two steps: Prediction and Update. Each step is investigated and coded as a function with matrix input and output. These different functions are explained and an example of a Kalman Filter application for the localization of mobile in wireless networks is given.

  18. Streamflow Data Assimilation in SWAT Model Using Extended Kalman Filter

    Science.gov (United States)

    Sun, L.; Nistor, I.; Seidou, O.

    2014-12-01

    Although Extended Kalman Filter (EKF) is regarded as the de facto method for the application of Kalman Filter in non-linear system, it's application to complex distributed hydrological models faces a lot of challenges. Ensemble Kalman Filter (EnKF) is often preferred because it avoids the calculation of the linearization Jacobian Matrix and the propagation of estimation error covariance. EnKF is however difficult to apply to large models because of the huge computation demand needed for parallel propagation of ensemble members. This paper deals with the application of EKF in stream flow prediction using the SWAT model in the watershed of Senegal River, West Africa. In the Jacobian Matrix calculation, SWAT is regarded as a black box model and the derivatives are calculated in the form of differential equations. The state vector is the combination of runoff, soil, shallow aquifer and deep aquifer water contents. As an initial attempt, only stream flow observations are assimilated. Despite the fact that EKF is a sub-optimal filter, the coupling of EKF significantly improves the estimation of daily streamflow. The results of SWAT+EKF are also compared to those of a simpler quasi linear streamflow prediction model where both state and parameters are updated with the EKF.

  19. An improved Kalman Smoother for atmospheric inversions

    Directory of Open Access Journals (Sweden)

    L. M. P. Bruhwiler

    2005-01-01

    Full Text Available We explore the use of a fixed-lag Kalman smoother for sequential estimation of atmospheric carbon dioxide fluxes. This technique takes advantage of the fact that most of the information about the spatial distribution of sources and sinks is observable within a few months to half of a year of emission. After this period, the spatial structure of sources is diluted by transport and cannot significantly constrain flux estimates. We therefore describe an estimation technique that steps through the observations sequentially, using only the subset of observations and modeled transport fields that most strongly constrain the fluxes at a particular time step. Estimates of each set of fluxes are sequentially updated multiple times, using measurements taken at different times, and the estimates and their uncertainties are shown to quickly converge. Final flux estimates are incorporated into the background state of CO2 and transported forward in time, and the final flux uncertainties and covariances are taken into account when estimating the covariances of the fluxes still being estimated. The computational demands of this technique are greatly reduced in comparison to the standard Bayesian synthesis technique where all observations are used at once with transport fields spanning the entire period of the observations. It therefore becomes possible to solve larger inverse problems with more observations and for fluxes discretized at finer spatial scales. We also discuss the differences between running the inversion simultaneously with the transport model and running it entirely off-line with pre-calculated transport fields. We find that the latter can be done with minimal error if time series of transport fields of adequate length are pre-calculated.

  20. An improved Kalman Smoother for atmospheric inversions

    Directory of Open Access Journals (Sweden)

    L. M. P. Bruhwiler

    2005-03-01

    Full Text Available We explore the use of a fixed-lag Kalman smoother for sequential estimation of atmospheric carbon dioxide fluxes. This technique takes advantage of the fact that most of the information about the spatial distribution of sources and sinks is observable within a 5 few months to half of a year of emission. After this period, the spatial structure of sources is diluted by transport and cannot significantly constrain flux estimates. We therefore describe an estimation technique that steps through the observations sequentially, using only the subset of observations and modeled transport fields that most strongly constrain the fluxes at a particular time step. Estimates of each set of fluxes 10 are sequentially updated multiple times, using measurements taken at different times, and the estimates and their uncertainties are shown to quickly converge. Final flux estimates are incorporated into the background state of CO2 and transported forward in time, and the final flux uncertainties and covariances are taken into account when estimating the covariances of the fluxes still being estimated. The computational demands 15 of this technique are greatly reduced in comparison to the standard Bayesian synthesis technique where all observations are used at once with transport fields spanning the entire period of the observations. It therefore becomes possible to solve larger inverse problems with more observations and for fluxes discretized at finer spatial scales. We also discuss the differences between running the inversion simultaneously with the 20 transport model and running it entirely off-line with pre-calculated transport fields. We find that the latter can be done with minimal error if time series of transport fields of adequate length are pre-calculated.

  1. Application of Unscented Kalman Filter in Satellite Orbit Simulation

    Institute of Scientific and Technical Information of China (English)

    ZHAO Dongming; CAI Zhiwu

    2006-01-01

    A new estimate method is proposed, which takes advantage of the unscented transform method, thus the true mean and covariance are approximated more accurately. The new method can be applied to non-linear systems without the linearization process necessary for the EKF, and it does not demand a Gaussian distribution of noise and what's more, its ease of implementation and more accurate estimation features enables it to demonstrate its good performance in the experiment of satellite orbit simulation. Numerical experiments show that the application of the unscented Kalman filter is more effective than the EKF.

  2. Hybrid Kalman and unscented Kalman filters for INS/GPS integrated system considering constant lever arm effect

    Institute of Scientific and Technical Information of China (English)

    常国宾; 柳明

    2015-01-01

    In inertial navigation system (INS) and global positioning system (GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit (IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS’s antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter’s prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter’s update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.

  3. Modified Extended Kalman Filtering for Tracking with Insufficient and Intermittent Observations

    Directory of Open Access Journals (Sweden)

    Pengpeng Chen

    2015-01-01

    Full Text Available This paper is concerned with the Kalman filtering problem for tracking a single target on the fixed-topology wireless sensor networks (WSNs. Both the insufficient anchor coverage and the packet dropouts have been taken into consideration in the filter design. The resulting tracking system is modeled as a multichannel nonlinear system with multiplicative noise. Noting that the channels may be correlated with each other, we use a general matrix to express the multiplicative noise. Then, a modified extended Kalman filtering algorithm is presented based on the obtained model to achieve high tracking accuracy. In particular, we evaluate the effect of various parameters on the tracking performance through simulation studies.

  4. An Adaptive Estimation of Forecast Error Covariance Parameters for Kalman Filtering Data Assimilation

    Institute of Scientific and Technical Information of China (English)

    Xiaogu ZHENG

    2009-01-01

    An adaptive estimation of forecast error covariance matrices is proposed for Kalman filtering data assimilation. A forecast error covariance matrix is initially estimated using an ensemble of perturbation forecasts. This initially estimated matrix is then adjusted with scale parameters that are adaptively estimated by minimizing -2log-likelihood of observed-minus-forecast residuals. The proposed approach could be applied to Kalman filtering data assimilation with imperfect models when the model error statistics are not known. A simple nonlinear model (Burgers' equation model) is used to demonstrate the efficacy of the proposed approach.

  5. A NEW METHOD OF CHANNEL FRICTION INVERSION BASED ON KALMAN FILTER WITH UNKNOWN PARAMETER VECTOR

    Institute of Scientific and Technical Information of China (English)

    CHENG Wei-ping; MAO Gen-hai; LIU Guo-hua

    2005-01-01

    Channel friction is an important parameter in hydraulic analysis.A channel friction parameter inversion method based on Kalman Filter with unknown parameter vector is proposed.Numerical simulations indicate that when the number of monitoring stations exceeds a critical value, the solution is hardly affected.In addition, Kalman Filter with unknown parameter vector is effective only at unsteady state.For the nonlinear equations, computations of sensitivity matrices are time-costly.Two simplified measures can reduce computing time, but not influence the results.One is to reduce sensitivity matrix analysis time, the other is to substitute for sensitivity matrix.

  6. Dynamic Optimization of Feedforward Automatic Gauge Control Based on Extended Kalman Filter

    Institute of Scientific and Technical Information of China (English)

    YANG Bin-hu; YANG Wei-dong; CHEN Lian-gui; QU Lei

    2008-01-01

    Automatic gauge control is an essentially nonlinear process varying with time delay, and stochastically varying input and process noise always influence the target gauge control accuracy. To improve the control capability of feedforward automatic gauge control, Kalman filter was employed to filter the noise signal transferred from one stand to another. The linearized matrix that the Kalman filter algorithm needed was concluded; thus, the feedforward automatic gauge control architecture was dynamically optimized. The theoretical analyses and simulation show that the proposed algorithm is reasonable and effective.

  7. Unscented Kalman Filter Applied to the Spacecraft Attitude Estimation with Euler Angles

    Directory of Open Access Journals (Sweden)

    Roberta Veloso Garcia

    2012-01-01

    Full Text Available The aim of this work is to test an algorithm to estimate, in real time, the attitude of an artificial satellite using real data supplied by attitude sensors that are on board of the CBERS-2 satellite (China Brazil Earth Resources Satellite. The real-time estimator used in this work for attitude determination is the Unscented Kalman Filter. This filter is a new alternative to the extended Kalman filter usually applied to the estimation and control problems of attitude and orbit. This algorithm is capable of carrying out estimation of the states of nonlinear systems, without the necessity of linearization of the nonlinear functions present in the model. This estimation is possible due to a transformation that generates a set of vectors that, suffering a nonlinear transformation, preserves the same mean and covariance of the random variables before the transformation. The performance will be evaluated and analyzed through the comparison between the Unscented Kalman filter and the extended Kalman filter results, by using real onboard data.

  8. Kalman plus weights: a time scale algorithm

    Science.gov (United States)

    Greenhall, C. A.

    2001-01-01

    KPW is a time scale algorithm that combines Kalman filtering with the basic time scale equation (BTSE). A single Kalman filter that estimates all clocks simultaneously is used to generate the BTSE frequency estimates, while the BTSE weights are inversely proportional to the white FM variances of the clocks. Results from simulated clock ensembles are compared to previous simulation results from other algorithms.

  9. A Localized Ensemble Kalman Smoother

    Science.gov (United States)

    Butala, Mark D.

    2012-01-01

    Numerous geophysical inverse problems prove difficult because the available measurements are indirectly related to the underlying unknown dynamic state and the physics governing the system may involve imperfect models or unobserved parameters. Data assimilation addresses these difficulties by combining the measurements and physical knowledge. The main challenge in such problems usually involves their high dimensionality and the standard statistical methods prove computationally intractable. This paper develops and addresses the theoretical convergence of a new high-dimensional Monte-Carlo approach called the localized ensemble Kalman smoother.

  10. A cognition-based method to ease the computational load for an extended Kalman filter.

    Science.gov (United States)

    Li, Yanpeng; Li, Xiang; Deng, Bin; Wang, Hongqiang; Qin, Yuliang

    2014-12-03

    The extended Kalman filter (EKF) is the nonlinear model of a Kalman filter (KF). It is a useful parameter estimation method when the observation model and/or the state transition model is not a linear function. However, the computational requirements in EKF are a difficulty for the system. With the help of cognition-based designation and the Taylor expansion method, a novel algorithm is proposed to ease the computational load for EKF in azimuth predicting and localizing under a nonlinear observation model. When there are nonlinear functions and inverse calculations for matrices, this method makes use of the major components (according to current performance and the performance requirements) in the Taylor expansion. As a result, the computational load is greatly lowered and the performance is ensured. Simulation results show that the proposed measure will deliver filtering output with a similar precision compared to the regular EKF. At the same time, the computational load is substantially lowered.

  11. Effective wind speed estimation: Comparison between Kalman Filter and Takagi-Sugeno observer techniques.

    Science.gov (United States)

    Gauterin, Eckhard; Kammerer, Philipp; Kühn, Martin; Schulte, Horst

    2016-05-01

    Advanced model-based control of wind turbines requires knowledge of the states and the wind speed. This paper benchmarks a nonlinear Takagi-Sugeno observer for wind speed estimation with enhanced Kalman Filter techniques: The performance and robustness towards model-structure uncertainties of the Takagi-Sugeno observer, a Linear, Extended and Unscented Kalman Filter are assessed. Hence the Takagi-Sugeno observer and enhanced Kalman Filter techniques are compared based on reduced-order models of a reference wind turbine with different modelling details. The objective is the systematic comparison with different design assumptions and requirements and the numerical evaluation of the reconstruction quality of the wind speed. Exemplified by a feedforward loop employing the reconstructed wind speed, the benefit of wind speed estimation within wind turbine control is illustrated.

  12. Maximum Correntropy Unscented Kalman Filter for Spacecraft Relative State Estimation

    Directory of Open Access Journals (Sweden)

    Xi Liu

    2016-09-01

    Full Text Available A new algorithm called maximum correntropy unscented Kalman filter (MCUKF is proposed and applied to relative state estimation in space communication networks. As is well known, the unscented Kalman filter (UKF provides an efficient tool to solve the non-linear state estimate problem. However, the UKF usually plays well in Gaussian noises. Its performance may deteriorate substantially in the presence of non-Gaussian noises, especially when the measurements are disturbed by some heavy-tailed impulsive noises. By making use of the maximum correntropy criterion (MCC, the proposed algorithm can enhance the robustness of UKF against impulsive noises. In the MCUKF, the unscented transformation (UT is applied to obtain a predicted state estimation and covariance matrix, and a nonlinear regression method with the MCC cost is then used to reformulate the measurement information. Finally, the UT is adopted to the measurement equation to obtain the filter state and covariance matrix. Illustrative examples demonstrate the superior performance of the new algorithm.

  13. Robust and Trend-following Kalman Smoothers using Student's t

    CERN Document Server

    Aravkin, Aleksandr Y; Pillonetto, Gianluigi

    2011-01-01

    We propose two nonlinear Kalman smoothers that rely on Student's t distributions. The T-Robust smoother finds the maximum a posteriori likelihood (MAP) solution for Gaussian process noise and Student's t observation noise, and is extremely robust against outliers, outperforming the recently proposed l1-Laplace smoother in extreme situations (e.g. 50% or more outliers). The second estimator, which we call the T-Trend smoother, is able to follow sudden changes in the process model, and is derived as a MAP solver for a model with Student's t-process noise and Gaussian observation noise. We design specialized methods to solve both problems which exploit the special structure of the Student's t-distribution, and provide a convergence theory. Both smoothers can be implemented with only minor modifications to an existing L2 smoother implementation. Numerical results for linear and nonlinear models illustrating both robust and fast tracking applications are presented.

  14. Design and Simulation of the Integrated Navigation System based on Extended Kalman Filter

    Directory of Open Access Journals (Sweden)

    Zhou Weidong

    2017-04-01

    Full Text Available The integrated navigation system is used to estimate the position, velocity, and attitude of a vehicle with the output of inertial sensors. This paper concentrates on the problem of the INS/GPS integrated navigation system design and simulation. The structure of the INS/GPS integrated navigation system is made up of four parts: 1 GPS receiver, 2 Inertial Navigation System, 3 Extended Kalman filter, and 4 Integrated navigation scheme. Afterwards, we illustrate how to simulate the integrated navigation system with the extended Kalman filter by measuring position, velocity and attitude. Particularly, the extended Kalman filter can estimate states of the nonlinear system in the noisy environment. In extended Kalman filter, the estimation of the state vector and the error covariance matrix are computed by steps: 1 time update and 2 measurement update. Finally, the simulation process is implemented by Matlab, and simulation results prove that the error rate of statement measuring is lower when applying the extended Kalman filter in the INS/GPS integrated navigation system.

  15. Stability analysis of nonlinear systems with slope restricted nonlinearities.

    Science.gov (United States)

    Liu, Xian; Du, Jiajia; Gao, Qing

    2014-01-01

    The problem of absolute stability of Lur'e systems with sector and slope restricted nonlinearities is revisited. Novel time-domain and frequency-domain criteria are established by using the Lyapunov method and the well-known Kalman-Yakubovich-Popov (KYP) lemma. The criteria strengthen some existing results. Simulations are given to illustrate the efficiency of the results.

  16. Stability Analysis of Nonlinear Systems with Slope Restricted Nonlinearities

    Directory of Open Access Journals (Sweden)

    Xian Liu

    2014-01-01

    Full Text Available The problem of absolute stability of Lur’e systems with sector and slope restricted nonlinearities is revisited. Novel time-domain and frequency-domain criteria are established by using the Lyapunov method and the well-known Kalman-Yakubovich-Popov (KYP lemma. The criteria strengthen some existing results. Simulations are given to illustrate the efficiency of the results.

  17. Non-Linear Approximation of Bayesian Update

    KAUST Repository

    Litvinenko, Alexander

    2016-06-23

    We develop a non-linear approximation of expensive Bayesian formula. This non-linear approximation is applied directly to Polynomial Chaos Coefficients. In this way, we avoid Monte Carlo sampling and sampling error. We can show that the famous Kalman Update formula is a particular case of this update.

  18. Low-dimensional recurrent neural network-based Kalman filter for speech enhancement.

    Science.gov (United States)

    Xia, Youshen; Wang, Jun

    2015-07-01

    This paper proposes a new recurrent neural network-based Kalman filter for speech enhancement, based on a noise-constrained least squares estimate. The parameters of speech signal modeled as autoregressive process are first estimated by using the proposed recurrent neural network and the speech signal is then recovered from Kalman filtering. The proposed recurrent neural network is globally asymptomatically stable to the noise-constrained estimate. Because the noise-constrained estimate has a robust performance against non-Gaussian noise, the proposed recurrent neural network-based speech enhancement algorithm can minimize the estimation error of Kalman filter parameters in non-Gaussian noise. Furthermore, having a low-dimensional model feature, the proposed neural network-based speech enhancement algorithm has a much faster speed than two existing recurrent neural networks-based speech enhancement algorithms. Simulation results show that the proposed recurrent neural network-based speech enhancement algorithm can produce a good performance with fast computation and noise reduction.

  19. Model-Based Engine Control Architecture with an Extended Kalman Filter

    Science.gov (United States)

    Csank, Jeffrey T.; Connolly, Joseph W.

    2016-01-01

    This paper discusses the design and implementation of an extended Kalman filter (EKF) for model-based engine control (MBEC). Previously proposed MBEC architectures feature an optimal tuner Kalman Filter (OTKF) to produce estimates of both unmeasured engine parameters and estimates for the health of the engine. The success of this approach relies on the accuracy of the linear model and the ability of the optimal tuner to update its tuner estimates based on only a few sensors. Advances in computer processing are making it possible to replace the piece-wise linear model, developed off-line, with an on-board nonlinear model running in real-time. This will reduce the estimation errors associated with the linearization process, and is typically referred to as an extended Kalman filter. The nonlinear extended Kalman filter approach is applied to the Commercial Modular Aero-Propulsion System Simulation 40,000 (C-MAPSS40k) and compared to the previously proposed MBEC architecture. The results show that the EKF reduces the estimation error, especially during transient operation.

  20. Spectral diagonal ensemble Kalman filters

    CERN Document Server

    Kasanický, Ivan; Vejmelka, Martin

    2015-01-01

    A new type of ensemble Kalman filter is developed, which is based on replacing the sample covariance in the analysis step by its diagonal in a spectral basis. It is proved that this technique improves the aproximation of the covariance when the covariance itself is diagonal in the spectral basis, as is the case, e.g., for a second-order stationary random field and the Fourier basis. The method is extended by wavelets to the case when the state variables are random fields, which are not spatially homogeneous. Efficient implementations by the fast Fourier transform (FFT) and discrete wavelet transform (DWT) are presented for several types of observations, including high-dimensional data given on a part of the domain, such as radar and satellite images. Computational experiments confirm that the method performs well on the Lorenz 96 problem and the shallow water equations with very small ensembles and over multiple analysis cycles.

  1. Reduced Kalman Filters for Clock Ensembles

    Science.gov (United States)

    Greenhall, Charles A.

    2011-01-01

    This paper summarizes the author's work ontimescales based on Kalman filters that act upon the clock comparisons. The natural Kalman timescale algorithm tends to optimize long-term timescale stability at the expense of short-term stability. By subjecting each post-measurement error covariance matrix to a non-transparent reduction operation, one obtains corrected clocks with improved short-term stability and little sacrifice of long-term stability.

  2. An extended Kalman filter application for traffic state estimation using CTM with implicit mode switching and dynamic parameters

    NARCIS (Netherlands)

    Tampere, C.M.J.; Immers, L.H.

    2007-01-01

    Abstract— This paper presents a traffic state estimation and prediction model based on the cell transmission model (CTM). The nonlinear CTM is transcribed in a closed analytical statespace form for use within a general extended Kalman filtering framework. The state-space CTM switches implicitly betw

  3. Feedback Robust Cubature Kalman Filter for Target Tracking Using an Angle Sensor.

    Science.gov (United States)

    Wu, Hao; Chen, Shuxin; Yang, Binfeng; Chen, Kun

    2016-05-09

    The direction of arrival (DOA) tracking problem based on an angle sensor is an important topic in many fields. In this paper, a nonlinear filter named the feedback M-estimation based robust cubature Kalman filter (FMR-CKF) is proposed to deal with measurement outliers from the angle sensor. The filter designs a new equivalent weight function with the Mahalanobis distance to combine the cubature Kalman filter (CKF) with the M-estimation method. Moreover, by embedding a feedback strategy which consists of a splitting and merging procedure, the proper sub-filter (the standard CKF or the robust CKF) can be chosen in each time index. Hence, the probability of the outliers' misjudgment can be reduced. Numerical experiments show that the FMR-CKF performs better than the CKF and conventional robust filters in terms of accuracy and robustness with good computational efficiency. Additionally, the filter can be extended to the nonlinear applications using other types of sensors.

  4. Unscented Kalman Filter-Trained Neural Networks for Slip Model Prediction.

    Science.gov (United States)

    Li, Zhencai; Wang, Yang; Liu, Zhen

    2016-01-01

    The purpose of this work is to investigate the accurate trajectory tracking control of a wheeled mobile robot (WMR) based on the slip model prediction. Generally, a nonholonomic WMR may increase the slippage risk, when traveling on outdoor unstructured terrain (such as longitudinal and lateral slippage of wheels). In order to control a WMR stably and accurately under the effect of slippage, an unscented Kalman filter and neural networks (NNs) are applied to estimate the slip model in real time. This method exploits the model approximating capabilities of nonlinear state-space NN, and the unscented Kalman filter is used to train NN's weights online. The slip parameters can be estimated and used to predict the time series of deviation velocity, which can be used to compensate control inputs of a WMR. The results of numerical simulation show that the desired trajectory tracking control can be performed by predicting the nonlinear slip model.

  5. 基于扩展Kalman预测模型的双目立体视觉图像特征点跟踪方法%Tracking method for stereo vision image feature points based on extend Kalman prediction model

    Institute of Scientific and Technical Information of China (English)

    任少盟; 魏振忠; 张广军

    2012-01-01

    针对双目立体视觉动态测量中图像特征点快速跟踪问题,提出了一种利用Kalman预测模型进行图像点跟踪的方法.该方法以图像特征点坐标值为观测向量,将坐标值和图像特征点运动速度作为状态向量,首先建立了线性Kalman预测递推模型,在此基础上引入了极线约束条件,进一步建立了图像特征点非线性扩展Kalman预测递推模型.实验表明该方法得到的特征点的预测轨迹和真实轨迹符合度好,预测精度高、速度快、通用性强.%Aiming at the problem of rapid tracking for stereo-camera image feature points, a forecast method base on extend Kalman prediction model is proposed. It defines that the observed vector is the coordinates of the image feature points,and the state vector is the coordinates and its speed. Therefore a linear Kalman prediction iterative model is derived. Based on that,a nonlinear extend Kalman prediction model is proposed when taking into account the epipolar constrains in stereo-camera vision system. At last experimental results prove that it's well accordant between the prediction trace and the real one and this method has the advantages of high forecast precision, rapid tracking speed and wide availability.

  6. Bridging the ensemble Kalman filter and particle filters: the adaptive Gaussian mixture filter

    OpenAIRE

    Stordal, Andreas Størksen; Karlsen, Hans A.; Nævdal, Geir; Hans J. Skaug; Vallès, Brice

    2010-01-01

    The nonlinear filtering problem occurs in many scientific areas. Sequential Monte Carlo solutions with the correct asymptotic behavior such as particle filters exist, but they are computationally too expensive when working with high-dimensional systems. The ensemble Kalman filter (EnKF) is a more robust method that has shown promising results with a small sample size, but the samples are not guaranteed to come from the true posterior distribution. By approximating the model error with a Gauss...

  7. Method for Improving Indoor Positioning Accuracy Using Extended Kalman Filter

    Directory of Open Access Journals (Sweden)

    Seoung-Hyeon Lee

    2016-01-01

    Full Text Available Beacons using bluetooth low-energy (BLE technology have emerged as a new paradigm of indoor positioning service (IPS because of their advantages such as low power consumption, miniaturization, wide signal range, and low cost. However, the beacon performance is poor in terms of the indoor positioning accuracy because of noise, motion, and fading, all of which are characteristics of a bluetooth signal and depend on the installation location. Therefore, it is necessary to improve the accuracy of beacon-based indoor positioning technology by fusing it with existing indoor positioning technology, which uses Wi-Fi, ZigBee, and so forth. This study proposes a beacon-based indoor positioning method using an extended Kalman filter that recursively processes input data including noise. After defining the movement of a smartphone on a flat two-dimensional surface, it was assumed that the beacon signal is nonlinear. Then, the standard deviation and properties of the beacon signal were analyzed. According to the analysis results, an extended Kalman filter was designed and the accuracy of the smartphone’s indoor position was analyzed through simulations and tests. The proposed technique achieved good indoor positioning accuracy, with errors of 0.26 m and 0.28 m from the average x- and y-coordinates, respectively, based solely on the beacon signal.

  8. Multimodal Degradation Prognostics Based on Switching Kalman Filter Ensemble.

    Science.gov (United States)

    Lim, Pin; Goh, Chi Keong; Tan, Kay Chen; Dutta, Partha

    2017-01-01

    For accurate prognostics, users have to determine the current health of the system and predict future degradation pattern of the system. An increasingly popular approach toward tackling prognostic problems involves the use of switching models to represent various degradation phases, which the system undergoes. Such approaches have the advantage of determining the exact degradation phase of the system and being able to handle nonlinear degradation models through piecewise linear approximation. However, limitations of such existing methods include, limited applicability due to the discretization of predicted remaining useful life, insufficient robustness due to the use of single models and others. This paper circumvents these limitations by proposing a hybrid of ensemble methods with switching methods. The proposed method first implements a switching Kalman filter (SKF) to classify between various linear degradation phases, then predict the future propagation of fault dimension using appropriate Kalman filters for each phase. This proposed method achieves both continuous and discrete prediction values representing the remaining life and degradation phase of the system, respectively. The proposed framework is shown via a case study on benchmark simulated aeroengine data sets. The evaluation of the proposed framework shows that the proposed method achieves better accuracy and robustness against noise compared with other methods reported in the literature. The results also indicate the effectiveness of the SKF in detecting the switching point between various degradation modes.

  9. Local Ensemble Kalman Particle Filters for efficient data assimilation

    CERN Document Server

    Robert, Sylvain

    2016-01-01

    Ensemble methods such as the Ensemble Kalman Filter (EnKF) are widely used for data assimilation in large-scale geophysical applications, as for example in numerical weather prediction (NWP). There is a growing interest for physical models with higher and higher resolution, which brings new challenges for data assimilation techniques because of the presence of non-linear and non-Gaussian features that are not adequately treated by the EnKF. We propose two new localized algorithms based on the Ensemble Kalman Particle Filter (EnKPF), a hybrid method combining the EnKF and the Particle Filter (PF) in a way that maintains scalability and sample diversity. Localization is a key element of the success of EnKFs in practice, but it is much more challenging to apply to PFs. The algorithms that we introduce in the present paper provide a compromise between the EnKF and the PF while avoiding some of the problems of localization for pure PFs. Numerical experiments with a simplified model of cumulus convection based on a...

  10. Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles

    Science.gov (United States)

    Williams, Brian; Hudson, Nicolas; Tweddle, Brent; Brockers, Roland; Matthies, Larry

    2011-01-01

    A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.

  11. 用于约束非线性全局优化的混沌退火神经网络%CHAOTIC ANNEALING NEURAL NETWORK FOR GLOBAL OPTIMIZATION OF CONSTRAINED NONLINEAR PROGRAMMING

    Institute of Scientific and Technical Information of China (English)

    张国平; 王正欧; 袁国林

    2001-01-01

    混沌神经网络具有全局搜索能力,但其运用至今主要局限于组合优化.通过对普通Hopfield优化网络引入混沌噪声退火过程,提出了一种用于约束非线性全局优化的混沌退火神经网络,它易于实现,原理简明,应用广泛.对很复杂的测试函数的数字试验表明,该模型能够高效、可靠地搜索到全局最优,其性能超过遗传算法GAMAS.%Chaotic neural networks have global searching ability.But their applications are generally confined to combinatorial optimization to date.By introducing chaotic noise annealing process into conventional Hopfield network,this paper proposes a new chaotic annealing neural network (CANN) for global optimization of continuous constrained non-linear programming.It is easy to implement,conceptually simple,and generally applicable.Numerical experiments on severe test functions manifest that CANN is efficient and reliable to search for global optimum and outperforms the existing genetic algorithm GAMAS for the same purpose.

  12. A technique for determining the optimum mix of logistics service providers of a make-to-order supply chain by formulating and solving a constrained nonlinear cost optimization problem

    Directory of Open Access Journals (Sweden)

    Mrityunjoy Roy

    2013-04-01

    Full Text Available In this paper, a technique has been developed to determine the optimum mix of logistic service providers of a make-to-order (MTO supply chain. A serial MTO supply chain with different stages/ processes has been considered. For each stage different logistic service providers with different mean processing lead times, but same lead time variances are available. A realistic assumption that for each stage, the logistic service provider who charges more for his service consumes less processing lead time and vice-versa has been made in our study. Thus for each stage, for each service provider, a combination of cost and mean processing lead time is available. Using these combinations, for each stage, a polynomial curve, expressing cost of that stage as a function of mean processing lead time is fit. Cumulating all such expressions of cost for the different stages along with incorporation of suitable constraints arising out of timely delivery, results in the formulation of a constrained nonlinear cost optimization problem. On solving the problem using mathematica, optimum processing lead time for each stage is obtained. Using these optimum processing lead times and by employing a simple technique the optimum logistic service provider mix of the supply chain along with the corresponding total cost of processing is determined. Finally to examine the effect of changes in different parameters on the optimum total processing cost of the supply chain, sensitivity analysis has been carried out graphically.

  13. INTERIOR POINT PROJECTED REDUCED HESSIAN METHOD WITH TRUST REGION STRATEGY FOR NONLINEAR CONSTRAINED OPTIMIZATION%信赖域策略的内点投影既约Hessian方法解非线性约束优化

    Institute of Scientific and Technical Information of China (English)

    朱德通

    2004-01-01

    A interior point scaling projected reduced Hessian method with combination of nonmonotonic backtracking technique and trust region strategy for nonlinear equality constrained optimization with nonegative constraint on variables is proposed.In order to deal with large problems,a pair of trust region subproblems in horizontal and vertical subspaces is used to replace the general full trust region subproblem.The horizontal trust region subproblem in the algorithm is only a general trust region subproblem while the vertical trust region subproblem is defined by a parameter size of the vertical direction subject only to an ellipsoidal constraint.Both trust region strategy and line search technique at each iteration switch to obtaining a backtracking step generated by the two trust region subproblems.By adopting the l1 penalty function as the merit function, the global convergence and fast local convergence rate of the proposed algorithm are established under some reasonable conditions.A nonmonotonic criterion and the second order correction step are used to overcome Maratos effect and speed up the convergence progress in some ill-conditioned cases.

  14. Hierarchical Bayes Ensemble Kalman Filtering

    CERN Document Server

    Tsyrulnikov, Michael

    2015-01-01

    Ensemble Kalman filtering (EnKF), when applied to high-dimensional systems, suffers from an inevitably small affordable ensemble size, which results in poor estimates of the background error covariance matrix ${\\bf B}$. The common remedy is a kind of regularization, usually an ad-hoc spatial covariance localization (tapering) combined with artificial covariance inflation. Instead of using an ad-hoc regularization, we adopt the idea by Myrseth and Omre (2010) and explicitly admit that the ${\\bf B}$ matrix is unknown and random and estimate it along with the state (${\\bf x}$) in an optimal hierarchical Bayes analysis scheme. We separate forecast errors into predictability errors (i.e. forecast errors due to uncertainties in the initial data) and model errors (forecast errors due to imperfections in the forecast model) and include the two respective components ${\\bf P}$ and ${\\bf Q}$ of the ${\\bf B}$ matrix into the extended control vector $({\\bf x},{\\bf P},{\\bf Q})$. Similarly, we break the traditional backgrou...

  15. The Unscented Kalman Filter estimates the plasma insulin from glucose measurement.

    Science.gov (United States)

    Eberle, Claudia; Ament, Christoph

    2011-01-01

    Understanding the simultaneous interaction within the glucose and insulin homeostasis in real-time is very important for clinical treatment as well as for research issues. Until now only plasma glucose concentrations can be measured in real-time. To support a secure, effective and rapid treatment e.g. of diabetes a real-time estimation of plasma insulin would be of great value. A novel approach using an Unscented Kalman Filter that provides an estimate of the current plasma insulin concentration is presented, which operates on the measurement of the plasma glucose and Bergman's Minimal Model of the glucose insulin homeostasis. We can prove that process observability is obtained in this case. Hence, a successful estimator design is possible. Since the process is nonlinear we have to consider estimates that are not normally distributed. The symmetric Unscented Kalman Filter (UKF) will perform best compared to other estimator approaches as the Extended Kalman Filter (EKF), the simplex Unscented Kalman Filter (UKF), and the Particle Filter (PF). The symmetric UKF algorithm is applied to the plasma insulin estimation. It shows better results compared to the direct (open loop) estimation that uses a model of the insulin subsystem.

  16. The use of the Kalman filter in the automated segmentation of EIT lung images.

    Science.gov (United States)

    Zifan, A; Liatsis, P; Chapman, B E

    2013-06-01

    In this paper, we present a new pipeline for the fast and accurate segmentation of impedance images of the lungs using electrical impedance tomography (EIT). EIT is an emerging, promising, non-invasive imaging modality that produces real-time, low spatial but high temporal resolution images of impedance inside a body. Recovering impedance itself constitutes a nonlinear ill-posed inverse problem, therefore the problem is usually linearized, which produces impedance-change images, rather than static impedance ones. Such images are highly blurry and fuzzy along object boundaries. We provide a mathematical reasoning behind the high suitability of the Kalman filter when it comes to segmenting and tracking conductivity changes in EIT lung images. Next, we use a two-fold approach to tackle the segmentation problem. First, we construct a global lung shape to restrict the search region of the Kalman filter. Next, we proceed with augmenting the Kalman filter by incorporating an adaptive foreground detection system to provide the boundary contours for the Kalman filter to carry out the tracking of the conductivity changes as the lungs undergo deformation in a respiratory cycle. The proposed method has been validated by using performance statistics such as misclassified area, and false positive rate, and compared to previous approaches. The results show that the proposed automated method can be a fast and reliable segmentation tool for EIT imaging.

  17. A class of quaternion Kalman filters.

    Science.gov (United States)

    Jahanchahi, Cyrus; Mandic, Danilo P

    2014-03-01

    The existing Kalman filters for quaternion-valued signals do not operate fully in the quaternion domain, and are combined with the real Kalman filter to enable the tracking in 3-D spaces. Using the recently introduced HR-calculus, we develop the fully quaternion-valued Kalman filter (QKF) and quaternion-extended Kalman filter (QEKF), allowing for the tracking of 3-D and 4-D signals directly in the quaternion domain. To consider the second-order noncircularity of signals, we employ the recently developed augmented quaternion statistics to derive the widely linear QKF (WL-QKF) and widely linear QEKF (WL-QEKF). To reduce computational requirements of the widely linear algorithms, their efficient implementation are proposed and it is shown that the quaternion widely linear model can be simplified when processing 3-D data, further reducing the computational requirements. Simulations using both synthetic and real-world circular and noncircular signals illustrate the advantages offered by widely linear over strictly linear quaternion Kalman filters.

  18. Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation

    Directory of Open Access Journals (Sweden)

    Mohammad Ali Badamchizadeh

    2010-01-01

    Full Text Available Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both observers are designed for the same model and run with the same covariance matrices under the same initial conditions. A five-bar linkage robot with revolute flexible joints is considered as a case study. Simulation results verify the effectiveness of the proposed filters.

  19. Steady-State Performance of Kalman Filter for DPLL

    Institute of Scientific and Technical Information of China (English)

    QIAN Yi; CUI Xiaowei; LU Mingquan; FENG Zhenming

    2009-01-01

    For certain system models, the structure of the Kalman filter is equivalent to a second-order vari-able gain digital phase-locked loop (DPLL). To apply the knowledge of DPLLs to the design of Kalman filters, this paper studies the steady-state performance of Kalman filters for these system models. The results show that the steady-state Kalman gain has the same form as the DPLL gain. An approximate simple form for the steady-state Kalman gain is used to derive an expression for the equivalent loop bandwidth of the Kalman filter as a function of the process and observation noise variances. These results can be used to analyze the steady-state performance of a Kalman filter with DPLL theory or to design a Kalman filter model with the same steady-state performance as a given DPLL.

  20. Kalman Orbit Optimized Loop Tracking

    Science.gov (United States)

    Young, Lawrence E.; Meehan, Thomas K.

    2011-01-01

    Under certain conditions of low signal power and/or high noise, there is insufficient signal to noise ratio (SNR) to close tracking loops with individual signals on orbiting Global Navigation Satellite System (GNSS) receivers. In addition, the processing power available from flight computers is not great enough to implement a conventional ultra-tight coupling tracking loop. This work provides a method to track GNSS signals at very low SNR without the penalty of requiring very high processor throughput to calculate the loop parameters. The Kalman Orbit-Optimized Loop (KOOL) tracking approach constitutes a filter with a dynamic model and using the aggregate of information from all tracked GNSS signals to close the tracking loop for each signal. For applications where there is not a good dynamic model, such as very low orbits where atmospheric drag models may not be adequate to achieve the required accuracy, aiding from an IMU (inertial measurement unit) or other sensor will be added. The KOOL approach is based on research JPL has done to allow signal recovery from weak and scintillating signals observed during the use of GPS signals for limb sounding of the Earth s atmosphere. That approach uses the onboard PVT (position, velocity, time) solution to generate predictions for the range, range rate, and acceleration of the low-SNR signal. The low- SNR signal data are captured by a directed open loop. KOOL builds on the previous open loop tracking by including feedback and observable generation from the weak-signal channels so that the MSR receiver will continue to track and provide PVT, range, and Doppler data, even when all channels have low SNR.

  1. Kalman Filter Application to Symmetrical Fault Detection during Power Swing

    DEFF Research Database (Denmark)

    Khodaparast, Jalal; Silva, Filipe Miguel Faria da; Khederzadeh, M.;

    2016-01-01

    capability of Kalman Filter. The proposed index is calculated by assessing the difference between predicted and actual samples of impedance. The predicted impedance samples are obtained using Kalman filter and Taylor expansion, which is used in this paper to track the phasor precisely. Second order of Taylor...... expansion is used to decrease corrugation effect of impedance estimation and increase the reliability of proposed method. The instantaneous estimation and prediction capability of Kalman filter are two reasons for proposing utilizing Kalman filter....

  2. Distributed Kalman Filter via Gaussian Belief Propagation

    CERN Document Server

    Bickson, Danny; Dolev, Danny

    2008-01-01

    Recent result shows how to compute distributively and efficiently the linear MMSE for the multiuser detection problem, using the Gaussian BP algorithm. In the current work, we extend this construction, and show that operating this algorithm twice on the matching inputs, has several interesting interpretations. First, we show equivalence to computing one iteration of the Kalman filter. Second, we show that the Kalman filter is a special case of the Gaussian information bottleneck algorithm, when the weight parameter $\\beta = 1$. Third, we discuss the relation to the Affine-scaling interior-point method and show it is a special case of Kalman filter. Besides of the theoretical interest of this linking estimation, compression/clustering and optimization, we allow a single distributed implementation of those algorithms, which is a highly practical and important task in sensor and mobile ad-hoc networks. Application to numerous problem domains includes collaborative signal processing and distributed allocation of ...

  3. Air-to-Air Missile Enhanced Scoring with Kalman Smoothing

    Science.gov (United States)

    2012-03-01

    Reconstruction Using The Unscented Kalman Filter Algorithm. Teixeira, Torres, Andrade de Oliveira, and Aguirre propose the use of an Un- scented Kalman...Paulo Henriques Iscold Andrade de Oliveira, and Luis Antonio Aguirre . “Flight Path Reconstruc- tion Using the Unscented Kalman Filter Algorithm

  4. Restricted Kalman Filtering Theory, Methods, and Application

    CERN Document Server

    Pizzinga, Adrian

    2012-01-01

    In statistics, the Kalman filter is a mathematical method whose purpose is to use a series of measurements observed over time, containing random variations and other inaccuracies, and produce estimates that tend to be closer to the true unknown values than those that would be based on a single measurement alone. This Brief offers developments on Kalman filtering subject to general linear constraints. There are essentially three types of contributions: new proofs for results already established; new results within the subject; and applications in investment analysis and macroeconomics, where th

  5. Kalman filter estimation model in flood forecasting

    Science.gov (United States)

    Husain, Tahir

    Elementary precipitation and runoff estimation problems associated with hydrologic data collection networks are formulated in conjunction with the Kalman Filter Estimation Model. Examples involve the estimation of runoff using data from a single precipitation station and also from a number of precipitation stations. The formulations demonstrate the role of state-space, measurement, and estimation equations of the Kalman Filter Model in flood forecasting. To facilitate the formulation, the unit hydrograph concept and antecedent precipitation index is adopted in the estimation model. The methodology is then applied to estimate various flood events in the Carnation Creek of British Columbia.

  6. Bootstrapping Nonlinear Least Squares Estimates in the Kalman Filter Model.

    Science.gov (United States)

    1986-01-01

    Bias Bootstrapa 3.933 x 103 0.651 x 103 -0.166 x 10-- b b Newton - Rapshon 1.380 x 10- 0.479 x 10- 10_c 0_ c , e -.., Emperical 3.605 x 10 -0.026 x 10...most cases, parameter estimation for the KF model has been accomplished by maximum likelihood techniques involving the use of scoring or Newton ...is well behaved, the Newton -Raphson and scoring procedures enjoy quadratic convergence in the neighborhood of the maximum and one has a ready-made

  7. 一簇非线性等式约束优化问题的过滤线搜索修正正割方法%A Class of Line Search Filter Improved Secant Methods for Nonlinear Equality Constrained Optimization

    Institute of Scientific and Technical Information of China (English)

    王祝君; 朱德通

    2012-01-01

    本文提供了一簇新的过滤线搜索修正正割方法求解非线性等式约束优化问题.新算法簇的特点是:用修正正割算法簇中的一个算法获得搜索方向,回代线搜索技术得到步长,过滤准则用来决定是否接受步长,引入二阶校正技术减少不可行性并克服Maratos效应.在合理的假设条件下,分析了算法的总体收敛性.并证明了,通过附加二阶校正步,算法簇克服了Maratos效应,并二步Q-超线性收敛到满足二阶充分最优条件的局部解.数值结果表明了所提供的算法具有有效性.%This paper proposes a new class of line search filter improved secant methods for general nonlinear equality constrained optimization. The feature of these new algorithms is that one of the improved secant algorithms is used to produce a search direction, a backtracking line search procedure to generate step size, some filtered rules to determine step acceptance, second order correction technique to reduce infeasibility and overcome the Maratos effects. Under mild assumptions the global convergence is established. Moreover, it is also established that the Maratos effect are overcome in our new approaches by adding second order correction steps so that two-step Q-superlinear convergence to second order sufficient local solution is achieved. The results of numerical experiments are reported to show the effectiveness of these proposed algorithms.

  8. Modelos lineares e não lineares inteiros para problemas da mochila bidimensional restrita a 2 estágios Linear and nonlinear integer models for constrained two-stage two-dimensional knapsack problems

    Directory of Open Access Journals (Sweden)

    Horacio Hideki Yanasse

    2013-01-01

    Full Text Available Neste trabalho revemos alguns modelos lineares e não lineares inteiros para gerar padrões de corte bidimensionais guilhotinados de 2 estágios, incluindo os casos exato e não exato e restrito e irrestrito. Esses problemas são casos particulares do problema da mochila bidimensional. Apresentamos também novos modelos para gerar esses padrões de corte, baseados em adaptações ou extensões de modelos para gerar padrões de corte bidimensionais restritos 1-grupo. Padrões 2 estágios aparecem em diferentes processos de corte, como, por exemplo, em indústrias de móveis e de chapas de madeira. Os modelos são úteis para a pesquisa e o desenvolvimento de métodos de solução mais eficientes, explorando estruturas particulares, a decomposição do modelo, relaxações do modelo etc. Eles também são úteis para a avaliação do desempenho de heurísticas, já que permitem (pelo menos para problemas de tamanho moderado uma estimativa do gap de otimalidade de soluções obtidas por heurísticas. Para ilustrar a aplicação dos modelos, analisamos os resultados de alguns experimentos computacionais com exemplos da literatura e outros gerados aleatoriamente. Os resultados foram produzidos usando um software comercial conhecido e mostram que o esforço computacional necessário para resolver os modelos pode ser bastante diferente.In this work we review some linear and nonlinear integer models to generate two stage two-dimensional guillotine cutting patterns, including the constrained, non constrained, exact and non exact cases. These problems are particular cases of the two dimensional knapsack problems. We also present new models to generate these cutting patterns, based on adaptations and extensions of models that generate one-group constrained two dimensional cutting patterns. Two stage patterns arise in different cutting processes like, for instance, in the furniture industry and wooden hardboards. The models are useful for the research and

  9. Data assimilation for unsaturated flow models with restart adaptive probabilistic collocation based Kalman filter

    Energy Technology Data Exchange (ETDEWEB)

    Man, Jun; Li, Weixuan; Zeng, Lingzao; Wu, Laosheng

    2016-06-01

    The ensemble Kalman filter (EnKF) has gained popularity in hydrological data assimilation problems. As a Monte Carlo based method, a relatively large ensemble size is usually required to guarantee the accuracy. As an alternative approach, the probabilistic collocation based Kalman filter (PCKF) employs the polynomial chaos to approximate the original system. In this way, the sampling error can be reduced. However, PCKF suffers from the so-called "curse of dimensionality". When the system nonlinearity is strong and number of parameters is large, PCKF could be even more computationally expensive than EnKF. Motivated by most recent developments in uncertainty quantification, we propose a restart adaptive probabilistic collocation based Kalman filter (RAPCKF) for data assimilation in unsaturated flow problems. During the implementation of RAPCKF, the important parameters are identified and active PCE basis functions are adaptively selected. The "restart" technology is used to eliminate the inconsistency between model parameters and states. The performance of RAPCKF is tested with numerical cases of unsaturated flow models. It is shown that RAPCKF is more efficient than EnKF with the same computational cost. Compared with the traditional PCKF, the RAPCKF is more applicable in strongly nonlinear and high dimensional problems.

  10. Nonlinear Principal Component Analysis Using Strong Tracking Filter

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The paper analyzes the problem of blind source separation (BSS) based on the nonlinear principal component analysis (NPCA) criterion. An adaptive strong tracking filter (STF) based algorithm was developed, which is immune to system model mismatches. Simulations demonstrate that the algorithm converges quickly and has satisfactory steady-state accuracy. The Kalman filtering algorithm and the recursive leastsquares type algorithm are shown to be special cases of the STF algorithm. Since the forgetting factor is adaptively updated by adjustment of the Kalman gain, the STF scheme provides more powerful tracking capability than the Kalman filtering algorithm and recursive least-squares algorithm.

  11. Application of Constrained Linear MPC to a Spray Dryer

    OpenAIRE

    2014-01-01

    In this paper we develop a linear model predictive control (MPC) algorithm for control of a two stage spray dryer. The states are estimated by a stationary Kalman filter. A non-linear first-principle engineering model is developed to simulate the spray drying process. The model is validated against experimental data and able to precisely predict the temperatures, the air humidity and the residual moisture in the dryer. The MPC controls these variables to the target and reject disturbances. Sp...

  12. Reduced-order Kalman filtering with incomplete observability

    Science.gov (United States)

    Yonezawa, K.

    1980-01-01

    Kalman filtering is considered with reference to linear stochastic dynamic systems without complete observability. It is shown that the canonical decomposition theorem can be extended to the stochastic case and the matrix Riccati equation of the Kalman filter is order-reducible if some states are not observable. The inclusion of unobservable states in Kalman filtering makes the unobservable states 'asymptotically' observable in the filter if these unobservable states are dynamically connected to observable states and asymptotically stable. The reduced-order Kalman filter saves computation time when compared to the conventional Kalman filter.

  13. Estimating dynamic equilibrium economies: linear versus nonlinear likelihood

    OpenAIRE

    2004-01-01

    This paper compares two methods for undertaking likelihood-based inference in dynamic equilibrium economies: a sequential Monte Carlo filter proposed by Fernández-Villaverde and Rubio-Ramírez (2004) and the Kalman filter. The sequential Monte Carlo filter exploits the nonlinear structure of the economy and evaluates the likelihood function of the model by simulation methods. The Kalman filter estimates a linearization of the economy around the steady state. The authors report two main results...

  14. Design of asymptotic estimators: an approach based on neural networks and nonlinear programming.

    Science.gov (United States)

    Alessandri, Angelo; Cervellera, Cristiano; Sanguineti, Marcello

    2007-01-01

    A methodology to design state estimators for a class of nonlinear continuous-time dynamic systems that is based on neural networks and nonlinear programming is proposed. The estimator has the structure of a Luenberger observer with a linear gain and a parameterized (in general, nonlinear) function, whose argument is an innovation term representing the difference between the current measurement and its prediction. The problem of the estimator design consists in finding the values of the gain and of the parameters that guarantee the asymptotic stability of the estimation error. Toward this end, if a neural network is used to take on this function, the parameters (i.e., the neural weights) are chosen, together with the gain, by constraining the derivative of a quadratic Lyapunov function for the estimation error to be negative definite on a given compact set. It is proved that it is sufficient to impose the negative definiteness of such a derivative only on a suitably dense grid of sampling points. The gain is determined by solving a Lyapunov equation. The neural weights are searched for via nonlinear programming by minimizing a cost penalizing grid-point constraints that are not satisfied. Techniques based on low-discrepancy sequences are applied to deal with a small number of sampling points, and, hence, to reduce the computational burden required to optimize the parameters. Numerical results are reported and comparisons with those obtained by the extended Kalman filter are made.

  15. A Tool for Kalman Filter Tuning

    DEFF Research Database (Denmark)

    Åkesson, Bernt Magnus; Jørgensen, John Bagterp; Poulsen, Niels Kjølstad

    2007-01-01

    The Kalman filter requires knowledge about the noise statistics. In practical applications, however, the noise covariances are generally not known. A method for estimating noise covariances from process data has been investigated. The method gives a least-squares estimate of the noise covariances...

  16. Towards self-organizing Kalman filters

    NARCIS (Netherlands)

    Sijs, J.; Papp, Z.

    2012-01-01

    Distributed Kalman filtering is an important signal processing method for state estimation in large-scale sensor networks. However, existing solutions do not account for unforeseen events that are likely to occur and thus dramatically changing the operational conditions (e.g. node failure, communica

  17. Industrial applications of the Kalman filter

    DEFF Research Database (Denmark)

    Auger, François; Hilairet, Mickael; Guerrero, Josep M.

    2013-01-01

    The Kalman filter has received a huge interest from the industrial electronics community and has played a key role in many engineering fields since the 70s, ranging, without being exhaustive, trajectory estimation, state and parameter estimation for control or diagnosis, data merging, signal...

  18. Deterministic Kalman filtering in a behavioral framework

    NARCIS (Netherlands)

    Fagnani, F; Willems, JC

    1997-01-01

    The purpose of this paper is to obtain a deterministic version of the Kalman filtering equations. We will use a behavioral description of the plant, specifically, an image representation. The resulting algorithm requires a matrix spectral factorization. We also show that the filter can be implemente

  19. Selection of noise parameters for Kalman filter

    Institute of Scientific and Technical Information of China (English)

    Ka-Veng Yuen; Ka-In Hoi; Kai-Meng Mok

    2007-01-01

    The Bayesian probabilistic approach is proposed to estimate the process noise and measurement noise parameters for a Kalman filter. With state vectors and covariance matrices estimated by the Kalman filter, the likehood of the measurements can be constructed as a function of the process noise and measurement noise parameters. By maximizing the likklihood function with respect to these noise parameters, the optimal values can be obtained. Furthermore, the Bayesian probabilistic approach allows the associated uncertainty to be quantified. Examples using a single-degree-of-freedom system and a ten-story building illustrate the proposed method. The effect on the performance of the Kalman filter due to the selection of the process noise and measurement noise parameters was demonstrated. The optimal values of the noise parameters were found to be close to the actual values in the sense that the actual parameters were in the region with significant probability density. Through these examples, the Bayesian approach was shown to have the capability to provide accurate estimates of the noise parameters of the Kalman filter, and hence for state estimation.

  20. A distributed Kalman filter with global covariance

    NARCIS (Netherlands)

    Sijs, J.; Lazar, M.

    2011-01-01

    Most distributed Kalman filtering (DKF) algorithms for sensor networks calculate a local estimate of the global state-vector in each node. An important challenge within distributed estimation is that all sensors in the network contribute to the local estimate in each node. In this paper, a novel DKF

  1. Accounting for model error due to unresolved scales within ensemble Kalman filtering

    CERN Document Server

    Mitchell, Lewis

    2014-01-01

    We propose a method to account for model error due to unresolved scales in the context of the ensemble transform Kalman filter (ETKF). The approach extends to this class of algorithms the deterministic model error formulation recently explored for variational schemes and extended Kalman filter. The model error statistic required in the analysis update is estimated using historical reanalysis increments and a suitable model error evolution law. Two different versions of the method are described; a time-constant model error treatment where the same model error statistical description is time-invariant, and a time-varying treatment where the assumed model error statistics is randomly sampled at each analysis step. We compare both methods with the standard method of dealing with model error through inflation and localization, and illustrate our results with numerical simulations on a low order nonlinear system exhibiting chaotic dynamics. The results show that the filter skill is significantly improved through th...

  2. Fuzzy adaptive strong tracking scaled unscented Kalman filter for initial alignment of large misalignment angles

    Science.gov (United States)

    Li, Jing; Song, Ningfang; Yang, Gongliu; Jiang, Rui

    2016-07-01

    In the initial alignment process of strapdown inertial navigation system (SINS), large misalignment angles always bring nonlinear problem, which can usually be processed using the scaled unscented Kalman filter (SUKF). In this paper, the problem of large misalignment angles in SINS alignment is further investigated, and the strong tracking scaled unscented Kalman filter (STSUKF) is proposed with fixed parameters to improve convergence speed, while these parameters are artificially constructed and uncertain in real application. To further improve the alignment stability and reduce the parameters selection, this paper proposes a fuzzy adaptive strategy combined with STSUKF (FUZZY-STSUKF). As a result, initial alignment scheme of large misalignment angles based on FUZZY-STSUKF is designed and verified by simulations and turntable experiment. The results show that the scheme improves the accuracy and convergence speed of SINS initial alignment compared with those based on SUKF and STSUKF.

  3. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2014-01-01

    Full Text Available As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF which used the noise statistics estimator in the iterated extended Kalman (IEKF, and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS/wireless sensors networks (WSNs-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  4. Adaptive iterated extended Kalman filter and its application to autonomous integrated navigation for indoor robot.

    Science.gov (United States)

    Xu, Yuan; Chen, Xiyuan; Li, Qinghua

    2014-01-01

    As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF) which used the noise statistics estimator in the iterated extended Kalman (IEKF), and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS)/wireless sensors networks (WSNs)-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE) of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  5. Fuzzy adaptive strong tracking scaled unscented Kalman filter for initial alignment of large misalignment angles.

    Science.gov (United States)

    Li, Jing; Song, Ningfang; Yang, Gongliu; Jiang, Rui

    2016-07-01

    In the initial alignment process of strapdown inertial navigation system (SINS), large misalignment angles always bring nonlinear problem, which can usually be processed using the scaled unscented Kalman filter (SUKF). In this paper, the problem of large misalignment angles in SINS alignment is further investigated, and the strong tracking scaled unscented Kalman filter (STSUKF) is proposed with fixed parameters to improve convergence speed, while these parameters are artificially constructed and uncertain in real application. To further improve the alignment stability and reduce the parameters selection, this paper proposes a fuzzy adaptive strategy combined with STSUKF (FUZZY-STSUKF). As a result, initial alignment scheme of large misalignment angles based on FUZZY-STSUKF is designed and verified by simulations and turntable experiment. The results show that the scheme improves the accuracy and convergence speed of SINS initial alignment compared with those based on SUKF and STSUKF.

  6. Adaptive error covariances estimation methods for ensemble Kalman filters

    Energy Technology Data Exchange (ETDEWEB)

    Zhen, Yicun, E-mail: zhen@math.psu.edu [Department of Mathematics, The Pennsylvania State University, University Park, PA 16802 (United States); Harlim, John, E-mail: jharlim@psu.edu [Department of Mathematics and Department of Meteorology, The Pennsylvania State University, University Park, PA 16802 (United States)

    2015-08-01

    This paper presents a computationally fast algorithm for estimating, both, the system and observation noise covariances of nonlinear dynamics, that can be used in an ensemble Kalman filtering framework. The new method is a modification of Belanger's recursive method, to avoid an expensive computational cost in inverting error covariance matrices of product of innovation processes of different lags when the number of observations becomes large. When we use only product of innovation processes up to one-lag, the computational cost is indeed comparable to a recently proposed method by Berry–Sauer's. However, our method is more flexible since it allows for using information from product of innovation processes of more than one-lag. Extensive numerical comparisons between the proposed method and both the original Belanger's and Berry–Sauer's schemes are shown in various examples, ranging from low-dimensional linear and nonlinear systems of SDEs and 40-dimensional stochastically forced Lorenz-96 model. Our numerical results suggest that the proposed scheme is as accurate as the original Belanger's scheme on low-dimensional problems and has a wider range of more accurate estimates compared to Berry–Sauer's method on L-96 example.

  7. Wind extraction potential from ensemble Kalman filter assimilation of stratospheric ozone using a global shallow water model

    Directory of Open Access Journals (Sweden)

    D. R. Allen

    2015-02-01

    Full Text Available The feasibility of extracting wind information from stratospheric ozone observations is tested using ensemble Kalman filter (EnKF data assimilation (DA and a global shallow water model that includes advection of an ozone-like tracer. Simulated observations are created from a truth run (TR that resembles the Northern Hemisphere winter stratosphere with a polar vortex disturbed by planetary-scale wave forcing. Ozone observations mimic sampling of a polar-orbiting satellite, while geopotential height observations are randomly placed in space and time. EnKF experiments are performed assimilating ozone, height, or both over a 10 day period. The DA is also implemented using two different pairs of flow variables: zonal and meridional wind (EnKF-uv and streamfunction and velocity potential (EnKF-ψ χ. Each experiment is tuned for optimal localization length, while the ensemble spread is adaptively inflated using the TR. The experiments are evaluated using the maximum wind extraction potential (WEP. Ozone-only assimilation improves winds (WEP = 46% for EnKF-uv, and 58% for EnKF-ψ χ, but suffers from spurious gravity wave generation. Application of nonlinear normal mode initialization (NMI greatly reduces the unwanted imbalance and increases the WEP for EnKF-uv (84% and EnKF-ψ χ (81%. Assimilation of only height observations also improved the winds (WEP = 59% for EnKF-uv, and 67% for EnKF-ψ χ, with much less imbalance compared to the ozone experiment. The assimilation of both height and ozone performed the best, with WEP increasing to ~ 87% (~ 90% with NMI for both EnKF-uv and EnKF-ψ χ, demonstrating that wind extraction from ozone assimilation can be beneficial even in a data-rich environment. Ozone assimilation particularly improves the tropical winds, which are not well constrained by height observations due to lack of geostrophy.

  8. Wind extraction potential from ensemble Kalman filter assimilation of stratospheric ozone using a global shallow water model

    Science.gov (United States)

    Allen, D. R.; Hoppel, K. W.; Kuhl, D. D.

    2015-05-01

    The feasibility of extracting wind information from stratospheric ozone observations is tested using ensemble Kalman filter (EnKF) data assimilation (DA) and a global shallow water model that includes advection of an ozone-like tracer. Simulated observations are created from a truth run (TR) that resembles the Northern Hemisphere winter stratosphere with a polar vortex disturbed by planetary-scale wave forcing. Ozone observations mimic sampling of a polar-orbiting satellite, while geopotential height observations are randomly placed in space and time. EnKF experiments are performed assimilating ozone, height, or both, over a 10-day period. The DA is also implemented using two different pairs of flow variables: zonal and meridional wind (EnKF-uv) and stream function and velocity potential (EnKF-ψχ). Each experiment is tuned for optimal localization length, while the ensemble spread is adaptively inflated using the TR. The experiments are evaluated using the maximum wind extraction potential (WEP). Ozone only assimilation improves winds (WEP = 46% for EnKF-uv, and 58% for EnKF-ψχ), but suffers from spurious gravity wave generation. Application of nonlinear normal mode initialization (NMI) greatly reduces the unwanted imbalance and increases the WEP for EnKF-uv (84%) and EnKF-ψχ (81%). Assimilation of only height observations also improved the winds (WEP = 60% for EnKF-uv, and 69% for EnKF-ψχ), with much less imbalance compared to the ozone experiment. The assimilation of both height and ozone performed the best, with WEP increasing to ~87% (~90% with NMI) for both EnKF-uv and EnKF-ψχ, demonstrating that wind extraction from ozone assimilation can be beneficial even in a data-rich environment. Ozone assimilation particularly improves the tropical winds, which are not well constrained by height observations due to lack of geostrophy.

  9. RAPID TRANSFER ALIGNMENT USING FEDERATED KALMAN FILTER

    Institute of Scientific and Technical Information of China (English)

    GUDong-qing; QINYong-yuan; PENGRong; LIXin

    2005-01-01

    The dimension number of the centralized Kalman filter (CKF) for the rapid transfer alignment (TA) is as high as 21 if the aircraft wing flexure motion is considered in the rapid TA. The 21-dimensional CKF brings the calculation burden on the computer and the difficulty to meet a high filtering updating rate desired by rapid TA. The federated Kalman filter (FKF) for the rapid TA is proposed to solve the dilemma. The structure and the algorithm of the FKF, which can perform parallel computation and has less calculation burden, are designed.The wing flexure motion is modeled, and then the 12-order velocity matching local filter and the 15-order attitud ematching local filter are devised. Simulation results show that the proposed EKE for the rapid TA almost has the same performance as the CKF. Thus the calculation burden of the proposed FKF for the rapid TA is markedly decreased.

  10. Design of Kalman filters for mobile robots

    DEFF Research Database (Denmark)

    Larsen, Thomas Dall; Hansen, Karsten L.; Andersen, Nils Axel

    1999-01-01

    Kalman filters have for a long time been widely used on mobile robots as a location estimator. Many different Kalman filter designs have been proposed, using models of various complexity. In this paper, two different design methods are evaluated and compared. Focus is put on the common setup where...... the mobile robot is equipped with a dual encoder system supported by some additional absolute measurements. A common filter type for this setup is the odometric filter, where readings from the odometry system on the robot are used together with the geometry of the robot movement as a model of the robot....... If additional kinematic assumptions are made, for instance regarding the velocity of the robot, an augmented model can be used instead. This kinematic filter has some advantages when used intelligently, and it is shown how this type of filter can be used to suppress noise on encoder readings and velocity...

  11. A Recursive Kalman Filter Forecasting Approach

    OpenAIRE

    Douglas R. Kahl; Johannes Ledolter

    1983-01-01

    This paper examines the forecasting accuracy and the cost effectiveness of time series models with time-varying coefficients. A simulation study investigates the potential forecasting benefits of a proposed Kalman filter type adaptive estimation and forecasting approach. It is found that: (1) When appropriate, the time-varying coefficient approach leads to better forecasts than the constant coefficient procedures. (2) A simple decision rule, which indicates whether time-varying coefficient mo...

  12. A Kalman Filtering Perspective for Multiatlas Segmentation.

    Science.gov (United States)

    Gao, Yi; Zhu, Liangjia; Cates, Joshua; MacLeod, Rob S; Bouix, Sylvain; Tannenbaum, Allen

    In multiatlas segmentation, one typically registers several atlases to the novel image, and their respective segmented label images are transformed and fused to form the final segmentation. In this work, we provide a new dynamical system perspective for multiatlas segmentation, inspired by the following fact: The transformation that aligns the current atlas to the novel image can be not only computed by direct registration but also inferred from the transformation that aligns the previous atlas to the image together with the transformation between the two atlases. This process is similar to the global positioning system on a vehicle, which gets position by inquiring from the satellite and by employing the previous location and velocity-neither answer in isolation being perfect. To solve this problem, a dynamical system scheme is crucial to combine the two pieces of information; for example, a Kalman filtering scheme is used. Accordingly, in this work, a Kalman multiatlas segmentation is proposed to stabilize the global/affine registration step. The contributions of this work are twofold. First, it provides a new dynamical systematic perspective for standard independent multiatlas registrations, and it is solved by Kalman filtering. Second, with very little extra computation, it can be combined with most existing multiatlas segmentation schemes for better registration/segmentation accuracy.

  13. A Discontinuous Extended Kalman Filter for non-smooth dynamic problems

    Science.gov (United States)

    Chatzis, M. N.; Chatzi, E. N.; Triantafyllou, S. P.

    2017-08-01

    Problems that result into locally non-differentiable and hence non-smooth state-space equations are often encountered in engineering. Examples include problems involving material laws pertaining to plasticity, impact and highly non-linear phenomena. Estimating the parameters of such systems poses a challenge, particularly since the majority of system identification algorithms are formulated on the basis of smooth systems under the assumption of observability, identifiability and time invariance. For a smooth system, an observable state remains observable throughout the system evolution with the exception of few selected realizations of the state vector. However, for a non-smooth system the observable set of states and parameters may vary during the evolution of the system throughout a dynamic analysis. This may cause standard identification (ID) methods, such as the Extended Kalman Filter, to temporarily diverge and ultimately fail in accurately identifying the parameters of the system. In this work, the influence of observability of non-smooth systems to the performance of the Extended and Unscented Kalman Filters is discussed and a novel algorithm particularly suited for this purpose, termed the Discontinuous Extended Kalman Filter (DEKF), is proposed.

  14. Gravity Matching Aided Inertial Navigation Technique Based on Marginal Robust Unscented Kalman Filter

    Directory of Open Access Journals (Sweden)

    Ming Liu

    2015-01-01

    Full Text Available This paper is concerned with the topic of gravity matching aided inertial navigation technology using Kalman filter. The dynamic state space model for Kalman filter is constructed as follows: the error equation of the inertial navigation system is employed as the process equation while the local gravity model based on 9-point surface interpolation is employed as the observation equation. The unscented Kalman filter is employed to address the nonlinearity of the observation equation. The filter is refined in two ways as follows. The marginalization technique is employed to explore the conditionally linear substructure to reduce the computational load; specifically, the number of the needed sigma points is reduced from 15 to 5 after this technique is used. A robust technique based on Chi-square test is employed to make the filter insensitive to the uncertainties in the above constructed observation model. Numerical simulation is carried out, and the efficacy of the proposed method is validated by the simulation results.

  15. Determination of a terrestrial reference frame via Kalman filtering of very long baseline interferometry data

    Science.gov (United States)

    Soja, Benedikt; Nilsson, Tobias; Balidakis, Kyriakos; Glaser, Susanne; Heinkelmann, Robert; Schuh, Harald

    2016-12-01

    Terrestrial reference frames (TRF), such as the ITRF2008, are primary products of geodesy. In this paper, we present TRF solutions based on Kalman filtering of very long baseline interferometry (VLBI) data, for which we estimate steady station coordinates over more than 30 years that are updated for every single VLBI session. By applying different levels of process noise, non-linear signals, such as seasonal and seismic effects, are taken into account. The corresponding stochastic model is derived site-dependent from geophysical loading deformation time series and is adapted during periods of post-seismic deformations. Our results demonstrate that the choice of stochastic process has a much smaller impact on the coordinate time series and velocities than the overall noise level. If process noise is applied, tests with and without additionally estimating seasonal signals indicate no difference between the resulting coordinate time series for periods when observational data are available. In a comparison with epoch reference frames, the Kalman filter solutions provide better short-term stability. Furthermore, we find out that the Kalman filter solutions are of similar quality when compared to a consistent least-squares solution, however, with the enhanced attribute of being easier to update as, for instance, in a post-earthquake period.

  16. Performance enhancement for a GPS vector-tracking loop utilizing an adaptive iterated extended Kalman filter.

    Science.gov (United States)

    Chen, Xiyuan; Wang, Xiying; Xu, Yuan

    2014-12-09

    This paper deals with the problem of state estimation for the vector-tracking loop of a software-defined Global Positioning System (GPS) receiver. For a nonlinear system that has the model error and white Gaussian noise, a noise statistics estimator is used to estimate the model error, and based on this, a modified iterated extended Kalman filter (IEKF) named adaptive iterated Kalman filter (AIEKF) is proposed. A vector-tracking GPS receiver utilizing AIEKF is implemented to evaluate the performance of the proposed method. Through road tests, it is shown that the proposed method has an obvious accuracy advantage over the IEKF and Adaptive Extended Kalman filter (AEKF) in position determination. The results show that the proposed method is effective to reduce the root-mean-square error (RMSE) of position (including longitude, latitude and altitude). Comparing with EKF, the position RMSE values of AIEKF are reduced by about 45.1%, 40.9% and 54.6% in the east, north and up directions, respectively. Comparing with IEKF, the position RMSE values of AIEKF are reduced by about 25.7%, 19.3% and 35.7% in the east, north and up directions, respectively. Compared with AEKF, the position RMSE values of AIEKF are reduced by about 21.6%, 15.5% and 30.7% in the east, north and up directions, respectively.

  17. Determination of a terrestrial reference frame via Kalman filtering of very long baseline interferometry data

    Science.gov (United States)

    Soja, Benedikt; Nilsson, Tobias; Balidakis, Kyriakos; Glaser, Susanne; Heinkelmann, Robert; Schuh, Harald

    2016-06-01

    Terrestrial reference frames (TRF), such as the ITRF2008, are primary products of geodesy. In this paper, we present TRF solutions based on Kalman filtering of very long baseline interferometry (VLBI) data, for which we estimate steady station coordinates over more than 30 years that are updated for every single VLBI session. By applying different levels of process noise, non-linear signals, such as seasonal and seismic effects, are taken into account. The corresponding stochastic model is derived site-dependent from geophysical loading deformation time series and is adapted during periods of post-seismic deformations. Our results demonstrate that the choice of stochastic process has a much smaller impact on the coordinate time series and velocities than the overall noise level. If process noise is applied, tests with and without additionally estimating seasonal signals indicate no difference between the resulting coordinate time series for periods when observational data are available. In a comparison with epoch reference frames, the Kalman filter solutions provide better short-term stability. Furthermore, we find out that the Kalman filter solutions are of similar quality when compared to a consistent least-squares solution, however, with the enhanced attribute of being easier to update as, for instance, in a post-earthquake period.

  18. Low-rank Kalman filtering for efficient state estimation of subsurface advective contaminant transport models

    KAUST Repository

    El Gharamti, Mohamad

    2012-04-01

    Accurate knowledge of the movement of contaminants in porous media is essential to track their trajectory and later extract them from the aquifer. A two-dimensional flow model is implemented and then applied on a linear contaminant transport model in the same porous medium. Because of different sources of uncertainties, this coupled model might not be able to accurately track the contaminant state. Incorporating observations through the process of data assimilation can guide the model toward the true trajectory of the system. The Kalman filter (KF), or its nonlinear invariants, can be used to tackle this problem. To overcome the prohibitive computational cost of the KF, the singular evolutive Kalman filter (SEKF) and the singular fixed Kalman filter (SFKF) are used, which are variants of the KF operating with low-rank covariance matrices. Experimental results suggest that under perfect and imperfect model setups, the low-rank filters can provide estimates as accurate as the full KF but at much lower computational effort. Low-rank filters are demonstrated to significantly reduce the computational effort of the KF to almost 3%. © 2012 American Society of Civil Engineers.

  19. An introduction to Kalman filtering with Matlab examples

    CERN Document Server

    Kovvali, Narayan; Spanias, Andreas

    2013-01-01

    The Kalman filter is the Bayesian optimum solution to the problem of sequentially estimating the states of a dynamical system in which the state evolution and measurement processes are both linear and Gaussian. Given the ubiquity of such systems, the Kalman filter finds use in a variety of applications, e.g., target tracking, guidance and navigation, and communications systems. The purpose of this book is to present a brief introduction to Kalman filtering. The theoretical framework of the Kalman filter is first presented, followed by examples showing its use in practical applications. Extensi

  20. Reservoir History Matching Using Ensemble Kalman Filters with Anamorphosis Transforms

    KAUST Repository

    Aman, Beshir M.

    2012-12-01

    This work aims to enhance the Ensemble Kalman Filter performance by transforming the non-Gaussian state variables into Gaussian variables to be a step closer to optimality. This is done by using univariate and multivariate Box-Cox transformation. Some History matching methods such as Kalman filter, particle filter and the ensemble Kalman filter are reviewed and applied to a test case in the reservoir application. The key idea is to apply the transformation before the update step and then transform back after applying the Kalman correction. In general, the results of the multivariate method was promising, despite the fact it over-estimated some variables.

  1. Hybrid Levenberg-Marquardt and weak-constraint ensemble Kalman smoother method

    Science.gov (United States)

    Mandel, J.; Bergou, E.; Gürol, S.; Gratton, S.; Kasanický, I.

    2016-03-01

    The ensemble Kalman smoother (EnKS) is used as a linear least-squares solver in the Gauss-Newton method for the large nonlinear least-squares system in incremental 4DVAR. The ensemble approach is naturally parallel over the ensemble members and no tangent or adjoint operators are needed. Furthermore, adding a regularization term results in replacing the Gauss-Newton method, which may diverge, by the Levenberg-Marquardt method, which is known to be convergent. The regularization is implemented efficiently as an additional observation in the EnKS. The method is illustrated on the Lorenz 63 model and a two-level quasi-geostrophic model.

  2. A convergence result for the unscented Kalman-Bucy filter using contraction theory

    DEFF Research Database (Denmark)

    Maree, J. P.; Imsland, L.; Jouffroy, J.

    2013-01-01

    This paper applies contraction theory to establish necessary conditions for contraction, hence, exponential convergence of the unscented Kalman-Bucy Filter. It follows that regions of contraction can subsequently be defined, given such necessary conditions. Both state and measurement models are Itô......-type stochastic differential equations. By employing a virtual/actual system framework, a special relation is established between sigma-point dynamics, and observed process states, with respect to contraction and convergence. The proposed theory is illustrated on an isothermal, non-linear CSTR process. © 2013...

  3. Islanding Detection for Microgrid Based on Frequency Tracking Using Extended Kalman Filter Algorithm

    Directory of Open Access Journals (Sweden)

    Bin Li

    2014-01-01

    Full Text Available Islanding detection is essential for secure and reliable operation of microgrids. Considering the relationship between the power generation and the load in microgrids, frequency may vary with time when islanding occurs. As a common approach, frequency measurement is widely used to detect islanding condition. In this paper, a novel frequency calculation algorithm based on extended Kalman filter was proposed to track dynamic frequency of the microgrid. Taylor series expansion was introduced to solve nonlinear state equations. In addition, a typical microgrid model was built using MATLAB/SIMULINK. Simulation results demonstrated that the proposed algorithm achieved great stability and strong robustness in of tracking dynamic frequency.

  4. A Quantised State Systems Approach for Jacobian Free Extended Kalman Filtering

    DEFF Research Database (Denmark)

    Alminde, Lars; Bendtsen, Jan Dimon; Stoustrup, Jakob

    2007-01-01

    Model based methods for control of intelligent autonomous systems rely on a state estimate being available. One of the most common methods to obtain a state estimate for non-linear systems is the Extended Kalman Filter (EKF) algorithm. In order to apply the EKF an expression must be available...... for the Jacobian of the driving function; for complex systems this can be difficult to obtain. This paper presents an EKF variation that makes use of integrated quantised state simulation to propagate the state and obtain a backward difference estimate of the Jacobian at a small computational cost. A simulation...

  5. Nonlinear data assimilation

    CERN Document Server

    Van Leeuwen, Peter Jan; Reich, Sebastian

    2015-01-01

    This book contains two review articles on nonlinear data assimilation that deal with closely related topics but were written and can be read independently. Both contributions focus on so-called particle filters. The first contribution by Jan van Leeuwen focuses on the potential of proposal densities. It discusses the issues with present-day particle filters and explorers new ideas for proposal densities to solve them, converging to particle filters that work well in systems of any dimension, closing the contribution with a high-dimensional example. The second contribution by Cheng and Reich discusses a unified framework for ensemble-transform particle filters. This allows one to bridge successful ensemble Kalman filters with fully nonlinear particle filters, and allows a proper introduction of localization in particle filters, which has been lacking up to now.

  6. Nonlinear filtering for LIDAR signal processing

    Directory of Open Access Journals (Sweden)

    D. G. Lainiotis

    1996-01-01

    Full Text Available LIDAR (Laser Integrated Radar is an engineering problem of great practical importance in environmental monitoring sciences. Signal processing for LIDAR applications involves highly nonlinear models and consequently nonlinear filtering. Optimal nonlinear filters, however, are practically unrealizable. In this paper, the Lainiotis's multi-model partitioning methodology and the related approximate but effective nonlinear filtering algorithms are reviewed and applied to LIDAR signal processing. Extensive simulation and performance evaluation of the multi-model partitioning approach and its application to LIDAR signal processing shows that the nonlinear partitioning methods are very effective and significantly superior to the nonlinear extended Kalman filter (EKF, which has been the standard nonlinear filter in past engineering applications.

  7. A Method for SINS Alignment with Large Initial Misalignment Angles Based on Kalman Filter with Parameters Resetting

    Directory of Open Access Journals (Sweden)

    Xixiang Liu

    2014-01-01

    Full Text Available In the initial alignment process of strapdown inertial navigation system (SINS, large initial misalignment angles always bring nonlinear problem, which causes alignment failure when the classical linear error model and standard Kalman filter are used. In this paper, the problem of large misalignment angles in SINS initial alignment is investigated, and the key reason for alignment failure is given as the state covariance from Kalman filter cannot represent the true one during the steady filtering process. According to the analysis, an alignment method for SINS based on multiresetting the state covariance matrix of Kalman filter is designed to deal with large initial misalignment angles, in which classical linear error model and standard Kalman filter are used, but the state covariance matrix should be multireset before the steady process until large misalignment angles are decreased to small ones. The performance of the proposed method is evaluated by simulation and car test, and the results indicate that the proposed method can fulfill initial alignment with large misalignment angles effectively and the alignment accuracy of the proposed method is as precise as that of alignment with small misalignment angles.

  8. Observability Analysis of a Matrix Kalman Filter-Based Navigation System Using Visual/Inertial/Magnetic Sensors

    Directory of Open Access Journals (Sweden)

    Guohu Feng

    2012-06-01

    Full Text Available A matrix Kalman filter (MKF has been implemented for an integrated navigation system using visual/inertial/magnetic sensors. The MKF rearranges the original nonlinear process model in a pseudo-linear process model. We employ the observability rank criterion based on Lie derivatives to verify the conditions under which the nonlinear system is observable. It has been proved that such observability conditions are: (a at least one degree of rotational freedom is excited, and (b at least two linearly independent horizontal lines and one vertical line are observed. Experimental results have validated the correctness of these observability conditions.

  9. Paris law parameter identification based on the Extended Kalman Filter

    Directory of Open Access Journals (Sweden)

    Melgar M.

    2016-01-01

    Full Text Available Aircraft structures are commonly subjected to repeated loading cycles leading to fatigue damage. Fatigue data can be extrapolated by fatigue models which are adopted to describe the fatigue damage behaviour. Such models depend on their parameters for accurate prediction of the fatigue life. Therefore, several methods have been developed for estimating the model parameters for both linear and nonlinear systems. It is useful for a broad class of parameter identification problems when the dynamic model is not known. In this paper, the Paris law is used as fatigue-crack-length growth model on a metallic component under loading cycles. The Extended Kalman Filter (EKF is proposed as estimation method. Simulated crack length data is used to validate the estimation method. Based on experimental data obtained from fatigue experiment, the crack length and model parameters are estimated. Accurate model parameters allow a more realistic prediction of the fatigue life, consequently, the remaining useful life (RUL of component can be accurately computed. In this sense, maintenance performance could be improved.

  10. Filtering Meteoroid Flights Using Multiple Unscented Kalman Filters

    Science.gov (United States)

    Sansom, E. K.; Bland, P. A.; Rutten, M. G.; Paxman, J.; Towner, M. C.

    2016-11-01

    Estimator algorithms are immensely versatile and powerful tools that can be applied to any problem where a dynamic system can be modeled by a set of equations and where observations are available. A well designed estimator enables system states to be optimally predicted and errors to be rigorously quantified. Unscented Kalman filters (UKFs) and interactive multiple models can be found in methods from satellite tracking to self-driving cars. The luminous trajectory of the Bunburra Rockhole fireball was observed by the Desert Fireball Network in mid-2007. The recorded data set is used in this paper to examine the application of these two techniques as a viable approach to characterizing fireball dynamics. The nonlinear, single-body system of equations, used to model meteoroid entry through the atmosphere, is challenged by gross fragmentation events that may occur. The incorporation of the UKF within an interactive multiple model smoother provides a likely solution for when fragmentation events may occur as well as providing a statistical analysis of the state uncertainties. In addition to these benefits, another advantage of this approach is its automatability for use within an image processing pipeline to facilitate large fireball data analyses and meteorite recoveries.

  11. Concrete ensemble Kalman filters with rigorous catastrophic filter divergence.

    Science.gov (United States)

    Kelly, David; Majda, Andrew J; Tong, Xin T

    2015-08-25

    The ensemble Kalman filter and ensemble square root filters are data assimilation methods used to combine high-dimensional, nonlinear dynamical models with observed data. Ensemble methods are indispensable tools in science and engineering and have enjoyed great success in geophysical sciences, because they allow for computationally cheap low-ensemble-state approximation for extremely high-dimensional turbulent forecast models. From a theoretical perspective, the dynamical properties of these methods are poorly understood. One of the central mysteries is the numerical phenomenon known as catastrophic filter divergence, whereby ensemble-state estimates explode to machine infinity, despite the true state remaining in a bounded region. In this article we provide a breakthrough insight into the phenomenon, by introducing a simple and natural forecast model that transparently exhibits catastrophic filter divergence under all ensemble methods and a large set of initializations. For this model, catastrophic filter divergence is not an artifact of numerical instability, but rather a true dynamical property of the filter. The divergence is not only validated numerically but also proven rigorously. The model cleanly illustrates mechanisms that give rise to catastrophic divergence and confirms intuitive accounts of the phenomena given in past literature.

  12. Concrete ensemble Kalman filters with rigorous catastrophic filter divergence

    Science.gov (United States)

    Kelly, David; Majda, Andrew J.; Tong, Xin T.

    2015-01-01

    The ensemble Kalman filter and ensemble square root filters are data assimilation methods used to combine high-dimensional, nonlinear dynamical models with observed data. Ensemble methods are indispensable tools in science and engineering and have enjoyed great success in geophysical sciences, because they allow for computationally cheap low-ensemble-state approximation for extremely high-dimensional turbulent forecast models. From a theoretical perspective, the dynamical properties of these methods are poorly understood. One of the central mysteries is the numerical phenomenon known as catastrophic filter divergence, whereby ensemble-state estimates explode to machine infinity, despite the true state remaining in a bounded region. In this article we provide a breakthrough insight into the phenomenon, by introducing a simple and natural forecast model that transparently exhibits catastrophic filter divergence under all ensemble methods and a large set of initializations. For this model, catastrophic filter divergence is not an artifact of numerical instability, but rather a true dynamical property of the filter. The divergence is not only validated numerically but also proven rigorously. The model cleanly illustrates mechanisms that give rise to catastrophic divergence and confirms intuitive accounts of the phenomena given in past literature. PMID:26261335

  13. Estimation of time varying system parameters from ambient response using improved Particle-Kalman filter with correlated noise

    Science.gov (United States)

    Sen, Subhamoy; Crinière, Antoine; Mevel, Laurent; Cerou, Frederic; Dumoulin, Jean

    2017-04-01

    Keywords: Parameter estimation; Kalman filter; Particle filter; Particle-Kalman filter; Correlated noise Although Kalman filter (KF) was originally proposed for system control i.e. steering a system as desired by monitoring the system states, its application for parameter estimation problems is widespread because of the excellent similarity between these two apparently different problem types in state space description. In standard Kalman filter, system dynamics is described through the dynamics of certain internal variable, termed as states, evolving over time as defined by an assumed process model, while a measurement model maps these states to measurements. In some parameter estimation problems, the system is replaced by a state space formulation of the dynamic model with parameters appended in the unobserved states and collectively observed through the response measurements. Filtering based parameter estimation problems are thus inherently nonlinear due to the required nonlinear mapping of parameters to the corresponding observations. Being a linear estimator, Kalman Filter (KF) cannot be employed for such nonlinear system estimation and alternative filtering algorithms (eg. Particle filter) are therefore generally used. However, being model based, these filters optimally estimate the parameters of a quasi-static model of the real dynamic system. Consequently, any time variation in the system dynamics may completely diverge the estimation yielding a false or infeasible solution. By decoupling the estimation of system states and parameters, and applying concurrent filtering strategy that attempts conditional estimation of states based on parameters and vice versa, time varying systems can be estimated. This article attempts to combine KF with Particle filter (PF) and apply them for estimation of states and system parameters respectively on a system with correlated noise in process and measurement. The idea is to nest a bank of linear KFs for state estimation

  14. An iterative ensemble Kalman filter for reservoir engineering applications

    NARCIS (Netherlands)

    Krymskaya, M.V.; Hanea, R.G.; Verlaan, M.

    2009-01-01

    The study has been focused on examining the usage and the applicability of ensemble Kalman filtering techniques to the history matching procedures. The ensemble Kalman filter (EnKF) is often applied nowadays to solving such a problem. Meanwhile, traditional EnKF requires assumption of the

  15. Longitudinal Factor Score Estimation Using the Kalman Filter.

    Science.gov (United States)

    Oud, Johan H.; And Others

    1990-01-01

    How longitudinal factor score estimation--the estimation of the evolution of factor scores for individual examinees over time--can profit from the Kalman filter technique is described. The Kalman estimates change more cautiously over time, have lower estimation error variances, and reproduce the LISREL program latent state correlations more…

  16. An iterative ensemble Kalman filter for reservoir engineering applications

    NARCIS (Netherlands)

    Krymskaya, M.V.; Hanea, R.G.; Verlaan, M.

    2009-01-01

    The study has been focused on examining the usage and the applicability of ensemble Kalman filtering techniques to the history matching procedures. The ensemble Kalman filter (EnKF) is often applied nowadays to solving such a problem. Meanwhile, traditional EnKF requires assumption of the distributi

  17. Suboptimal distributed Kalman filtering fusion with feedback

    Institute of Scientific and Technical Information of China (English)

    Zhao Minhua; Zhu Zhuanmin; Shi Meng; Peng Qinke; Huang Yongxuan

    2005-01-01

    In order to improve the accuracy of fusion algorithm, feedback is introduced into Kalman filtering fusion. Fusion center broadcasts its latest estimated states to the local sensors, which can improve the performance of local tracking error through reducing the covariance of each local error, and only needs calculating the trace of error variance matrices without calculating the inverse of error variance matrices. Simulation results show that it can reduce the computational complexity and the covariance of error, and it is convenient for engineering applications.

  18. Radio Channel State Prediction by Kalman Filter

    Directory of Open Access Journals (Sweden)

    Peter Ziacik

    2005-01-01

    Full Text Available In this article there is the description Kalman filter using as a radio channel state predictor. Simulator of prediction has been created in MATLAB environment and it is capable to simulate the prediction of radio signal envelope by Clark’s model of radio channel, which is implemented to the simulator. Simulations were realized for prediction range 0.41 ms and 6.24 ms and as comparing criterion we used the prediction error. It is clear from simulations, that with the duration of prediction the prediction error is enlarging, which may cause the erroneous decision of adaptation algorithms.

  19. SIMULASI FILTER KALMAN UNTUK ESTIMASI SUDUT DENGAN MENGGUNAKAN SENSOR GYROSCOPE

    Directory of Open Access Journals (Sweden)

    Wahyudi Wahyudi

    2012-02-01

    Full Text Available The Kalman filter is a recursive solution to the process linear filtering problem that can remove the noisefrom signal and then the information can useful. The process that use Kalman filter must be approximatedas two equations of linear system, state equation and output equation. Computation of Kalman filter isminimizes the mean of the square error. This paper explore the basic consepts of the Kalman filteralgorithm and simulate its to filter data of gyroscope to get a rotation. The measurement noise covariancedetermines how much information from the sample is used. If measurement noise covariance is high showthat the measurement isn’t very accurate. The process noise covariance contributes to the overalluncertainty of the estimate as it is added to the error covariance matrix in each time step. If the errorcovariance matrix is small the Kalman filter incorporates a lot less of the measurement into estimate ofrotation.

  20. Adaptive Federal Kalman Filtering for SINS/GPS Integrated System

    Institute of Scientific and Technical Information of China (English)

    杨勇; 缪玲娟

    2003-01-01

    A new adaptive federal Kalman filter for a strapdown integrated navigation system/global positioning system (SINS/GPS) is given. The developed federal Kalman filter is based on the trace operation of parameters estimation's error covariance matrix and the spectral radius of update measurement noise variance-covariance matrix for the proper choice of the filter weight and hence the filter gain factors. Theoretical analysis and results from simulation in which the SINS/GPS was compared to conventional Kalman filter are presented. Results show that the algorithm of this adaptive federal Kalman filter is simpler than that of the conventional one. Furthermore, it outperforms the conventional Kalman filter when the system is undertaken measurement malfunctions because of its possession of adaptive ability. This filter can be used in the vehicle integrated navigation system.

  1. Liquid Level Estimation in Dynamic Condition using Kalman Filter

    Directory of Open Access Journals (Sweden)

    Sagar Kapale

    2016-08-01

    Full Text Available The aim of this paper is to estimate true liquid level of tank from noisy measurements due to dynamic conditions using kalman filter algorithm. We proposed kalman filter based approach to reduce noise in liquid level measurement system due to effect like sloshing. The function of kalman filter is to reduce error in liquid level measurement that produced from sensor resulting from effect like sloshing in dynamic environment. A prototype model was constructed and placed in dynamic condition, level data was acquired using ultrasonic sensor to verify the effectiveness of kalman filter. The tabulated data are shown for comparison of accuracy and error analysis between both measurements with Kalman filter and statistical averaging filter. After several test with different liquid levels and analysis of the recorded data, the technique shows the usefulness in liquid level measurement application in dynamic condition.

  2. Cascaded Kalman and particle filters for photogrammetry based gyroscope drift and robot attitude estimation.

    Science.gov (United States)

    Sadaghzadeh N, Nargess; Poshtan, Javad; Wagner, Achim; Nordheimer, Eugen; Badreddin, Essameddin

    2014-03-01

    Based on a cascaded Kalman-Particle Filtering, gyroscope drift and robot attitude estimation method is proposed in this paper. Due to noisy and erroneous measurements of MEMS gyroscope, it is combined with Photogrammetry based vision navigation scenario. Quaternions kinematics and robot angular velocity dynamics with augmented drift dynamics of gyroscope are employed as system state space model. Nonlinear attitude kinematics, drift and robot angular movement dynamics each in 3 dimensions result in a nonlinear high dimensional system. To reduce the complexity, we propose a decomposition of system to cascaded subsystems and then design separate cascaded observers. This design leads to an easier tuning and more precise debugging from the perspective of programming and such a setting is well suited for a cooperative modular system with noticeably reduced computation time. Kalman Filtering (KF) is employed for the linear and Gaussian subsystem consisting of angular velocity and drift dynamics together with gyroscope measurement. The estimated angular velocity is utilized as input of the second Particle Filtering (PF) based observer in two scenarios of stochastic and deterministic inputs. Simulation results are provided to show the efficiency of the proposed method. Moreover, the experimental results based on data from a 3D MEMS IMU and a 3D camera system are used to demonstrate the efficiency of the method.

  3. Advanced Kalman Filter for Real-Time Responsiveness in Complex Systems

    Energy Technology Data Exchange (ETDEWEB)

    Welch, Gregory Francis [UNC-Chapel Hill/University of Central Florida; Zhang, Jinghe [UNC-Chapel Hill/Virginia Tech

    2014-06-10

    Complex engineering systems pose fundamental challenges in real-time operations and control because they are highly dynamic systems consisting of a large number of elements with severe nonlinearities and discontinuities. Today’s tools for real-time complex system operations are mostly based on steady state models, unable to capture the dynamic nature and too slow to prevent system failures. We developed advanced Kalman filtering techniques and the formulation of dynamic state estimation using Kalman filtering techniques to capture complex system dynamics in aiding real-time operations and control. In this work, we looked at complex system issues including severe nonlinearity of system equations, discontinuities caused by system controls and network switches, sparse measurements in space and time, and real-time requirements of power grid operations. We sought to bridge the disciplinary boundaries between Computer Science and Power Systems Engineering, by introducing methods that leverage both existing and new techniques. While our methods were developed in the context of electrical power systems, they should generalize to other large-scale scientific and engineering applications.

  4. DYNAMIC ESTIMATION FOR PARAMETERS OF INTERFERENCE SIGNALS BY THE SECOND ORDER EXTENDED KALMAN FILTERING

    Directory of Open Access Journals (Sweden)

    P. A. Ermolaev

    2014-03-01

    Full Text Available Data processing in the interferometer systems requires high-resolution and high-speed algorithms. Recurrence algorithms based on parametric representation of signals execute consequent processing of signal samples. In some cases recurrence algorithms make it possible to increase speed and quality of data processing as compared with classic processing methods. Dependence of the measured interferometer signal on parameters of its model and stochastic nature of noise formation in the system is, in general, nonlinear. The usage of nonlinear stochastic filtering algorithms is expedient for such signals processing. Extended Kalman filter with linearization of state and output equations by the first vector parameters derivatives is an example of these algorithms. To decrease approximation error of this method the second order extended Kalman filtering is suggested with additionally usage of the second vector parameters derivatives of model equations. Examples of algorithm implementation with the different sets of estimated parameters are described. The proposed algorithm gives the possibility to increase the quality of data processing in interferometer systems in which signals are forming according to considered models. Obtained standard deviation of estimated amplitude envelope does not exceed 4% of the maximum. It is shown that signal-to-noise ratio of reconstructed signal is increased by 60%.

  5. Automated alignment of a reconfigurable optical system using focal-plane sensing and Kalman filtering

    CERN Document Server

    Fang, Joyce

    2016-01-01

    Automation of alignment tasks can provide improved efficiency and greatly increase the flexibility of an optical system. Current optical systems with automated alignment capabilities are typically designed to include a dedicated wavefront sensor. Here, we demonstrate a self-aligning method for a reconfigurable system using only focal plane images. We define a two lens optical system with eight degrees of freedom. Images are simulated given misalignment parameters using ZEMAX software. We perform a principal component analysis (PCA) on the simulated dataset to obtain Karhunen-Lo\\`eve (KL) modes, which form the basis set whose weights are the system measurements. A model function which maps the state to the measurement is learned using nonlinear least squares fitting and serves as the measurement function for the nonlinear estimator (Extended and Unscented Kalman filters) used to calculate control inputs to align the system. We present and discuss both simulated and experimental results of the full system in op...

  6. Kalman meets neuron: the emerging intersection of control theory with neuroscience.

    Science.gov (United States)

    Schiff, Steven J

    2009-01-01

    Since the 1950s, we have developed mature theories of modern control theory and computational neuroscience with almost no interaction between these disciplines. With the advent of computationally efficient nonlinear Kalman filtering techniques, along with improved neuroscience models that provide increasingly accurate reconstruction of dynamics in a variety of important normal and disease states in the brain, the prospects for a synergistic interaction between these fields are now strong. I show recent examples of the use of nonlinear control theory for the assimilation and control of single neuron dynamics, the modulation of oscillatory wave dynamics in brain cortex, a control framework for Parkinsonian dynamics and seizures, and the use of optimized parameter model networks to assimilate complex network data - the 'consensus set'.

  7. Automated alignment of a reconfigurable optical system using focal-plane sensing and Kalman filtering

    Science.gov (United States)

    Fang, Joyce; Savransky, Dmitry

    2016-08-01

    Automation of alignment tasks can provide improved efficiency and greatly increase the flexibility of an optical system. Current optical systems with automated alignment capabilities are typically designed to include a dedicated wavefront sensor. Here, we demonstrate a self-aligning method for a reconfigurable system using only focal plane images. We define a two lens optical system with eight degrees of freedom. Images are simulated given misalignment parameters using ZEMAX software. We perform a principal component analysis (PCA) on the simulated dataset to obtain Karhunen-Lo\\`eve (KL) modes, which form the basis set whose weights are the system measurements. A model function which maps the state to the measurement is learned using nonlinear least squares fitting and serves as the measurement function for the nonlinear estimator (Extended and Unscented Kalman filters) used to calculate control inputs to align the system. We present and discuss both simulated and experimental results of the full system in operation.

  8. Recursive Starlight and Bias Estimation for High-Contrast Imaging with an Extended Kalman Filter

    CERN Document Server

    Riggs, A J Eldorado; Groff, Tyler D

    2016-01-01

    For imaging faint exoplanets and disks, a coronagraph-equipped observatory needs focal plane wavefront correction to recover high contrast. The most efficient correction methods iteratively estimate the stellar electric field and suppress it with active optics. The estimation requires several images from the science camera per iteration. To maximize the science yield, it is desirable both to have fast wavefront correction and to utilize all the correction images for science target detection. Exoplanets and disks are incoherent with their stars, so a nonlinear estimator is required to estimate both the incoherent intensity and the stellar electric field. Such techniques assume a high level of stability found only on space-based observatories and possibly ground-based telescopes with extreme adaptive optics. In this paper, we implement a nonlinear estimator, the iterated extended Kalman filter (IEKF), to enable fast wavefront correction and a recursive, nearly-optimal estimate of the incoherent light. In Prince...

  9. Battery State-of-Charge and Parameter Estimation Algorithm Based on Kalman Filter

    DEFF Research Database (Denmark)

    Dragicevic, Tomislav; Sucic, Stjepan; Guerrero, Josep M.

    2013-01-01

    Electrochemical battery is the most widely used energy storage technology, finding its application in various devices ranging from low power consumer electronics to utility back-up power. All types of batteries show highly non-linear behaviour in terms of dependence of internal parameters...... on operating conditions, momentary replenishment and a number of past charge/discharge cycles. A good indicator for the quality of overall customer service in any battery based application is the availability and reliability of these informations, as they point out important runtime variables...... such as the actual state of charge (SOC) and state of health (SOH). Therefore, a modern battery management systems (BMSs) should incorporate functions that accommodate real time tracking of these nonlinearities. For that purpose, Kalman filter based algorithms emerged as a convenient solution due to their ability...

  10. Kalman Filter Tracking on Parallel Architectures

    Directory of Open Access Journals (Sweden)

    Cerati Giuseppe

    2016-01-01

    Full Text Available Power density constraints are limiting the performance improvements of modern CPUs. To address this we have seen the introduction of lower-power, multi-core processors such as GPGPU, ARM and Intel MIC. In order to achieve the theoretical performance gains of these processors, it will be necessary to parallelize algorithms to exploit larger numbers of lightweight cores and specialized functions like large vector units. Track finding and fitting is one of the most computationally challenging problems for event reconstruction in particle physics. At the High-Luminosity Large Hadron Collider (HL-LHC, for example, this will be by far the dominant problem. The need for greater parallelism has driven investigations of very different track finding techniques such as Cellular Automata or Hough Transforms. The most common track finding techniques in use today, however, are those based on a Kalman filter approach. Significant experience has been accumulated with these techniques on real tracking detector systems, both in the trigger and offline. They are known to provide high physics performance, are robust, and are in use today at the LHC. Given the utility of the Kalman filter in track finding, we have begun to port these algorithms to parallel architectures, namely Intel Xeon and Xeon Phi. We report here on our progress towards an end-to-end track reconstruction algorithm fully exploiting vectorization and parallelization techniques in a simplified experimental environment.

  11. Kalman Filter Tracking on Parallel Architectures

    Science.gov (United States)

    Cerati, Giuseppe; Elmer, Peter; Krutelyov, Slava; Lantz, Steven; Lefebvre, Matthieu; McDermott, Kevin; Riley, Daniel; Tadel, Matevž; Wittich, Peter; Würthwein, Frank; Yagil, Avi

    2016-11-01

    Power density constraints are limiting the performance improvements of modern CPUs. To address this we have seen the introduction of lower-power, multi-core processors such as GPGPU, ARM and Intel MIC. In order to achieve the theoretical performance gains of these processors, it will be necessary to parallelize algorithms to exploit larger numbers of lightweight cores and specialized functions like large vector units. Track finding and fitting is one of the most computationally challenging problems for event reconstruction in particle physics. At the High-Luminosity Large Hadron Collider (HL-LHC), for example, this will be by far the dominant problem. The need for greater parallelism has driven investigations of very different track finding techniques such as Cellular Automata or Hough Transforms. The most common track finding techniques in use today, however, are those based on a Kalman filter approach. Significant experience has been accumulated with these techniques on real tracking detector systems, both in the trigger and offline. They are known to provide high physics performance, are robust, and are in use today at the LHC. Given the utility of the Kalman filter in track finding, we have begun to port these algorithms to parallel architectures, namely Intel Xeon and Xeon Phi. We report here on our progress towards an end-to-end track reconstruction algorithm fully exploiting vectorization and parallelization techniques in a simplified experimental environment.

  12. Kalman Filter Tracking on Parallel Architectures

    Science.gov (United States)

    Cerati, Giuseppe; Elmer, Peter; Lantz, Steven; McDermott, Kevin; Riley, Dan; Tadel, Matevž; Wittich, Peter; Würthwein, Frank; Yagil, Avi

    2015-12-01

    Power density constraints are limiting the performance improvements of modern CPUs. To address this we have seen the introduction of lower-power, multi-core processors, but the future will be even more exciting. In order to stay within the power density limits but still obtain Moore's Law performance/price gains, it will be necessary to parallelize algorithms to exploit larger numbers of lightweight cores and specialized functions like large vector units. Example technologies today include Intel's Xeon Phi and GPGPUs. Track finding and fitting is one of the most computationally challenging problems for event reconstruction in particle physics. At the High Luminosity LHC, for example, this will be by far the dominant problem. The need for greater parallelism has driven investigations of very different track finding techniques including Cellular Automata or returning to Hough Transform. The most common track finding techniques in use today are however those based on the Kalman Filter [2]. Significant experience has been accumulated with these techniques on real tracking detector systems, both in the trigger and offline. They are known to provide high physics performance, are robust and are exactly those being used today for the design of the tracking system for HL-LHC. Our previous investigations showed that, using optimized data structures, track fitting with Kalman Filter can achieve large speedup both with Intel Xeon and Xeon Phi. We report here our further progress towards an end-to-end track reconstruction algorithm fully exploiting vectorization and parallelization techniques in a realistic simulation setup.

  13. A New UKF Based Fault Detection Method in Non-linear Systems

    Institute of Scientific and Technical Information of China (English)

    GE Zhe-xue; YANG Yong-min; HU Zheng

    2006-01-01

    To detect the bias fault in stochastic non-linear dynamic systems, a new Unscented Kalman Filtering(UKF) based real-time recursion detection method is brought forward with the consideration of the flaws of traditional Extended Kalman Filtering(EKF). It uses the UKF as the residual generation method and the Weighted-Sum Squared Residual (WSSR) as the fault detection strategy. The simulation results are provided which demonstrate better effectiveness and a higher detection ratio of the developed methods.

  14. An Adjoint-Based Adaptive Ensemble Kalman Filter

    KAUST Repository

    Song, Hajoon

    2013-10-01

    A new hybrid ensemble Kalman filter/four-dimensional variational data assimilation (EnKF/4D-VAR) approach is introduced to mitigate background covariance limitations in the EnKF. The work is based on the adaptive EnKF (AEnKF) method, which bears a strong resemblance to the hybrid EnKF/three-dimensional variational data assimilation (3D-VAR) method. In the AEnKF, the representativeness of the EnKF ensemble is regularly enhanced with new members generated after back projection of the EnKF analysis residuals to state space using a 3D-VAR [or optimal interpolation (OI)] scheme with a preselected background covariance matrix. The idea here is to reformulate the transformation of the residuals as a 4D-VAR problem, constraining the new member with model dynamics and the previous observations. This should provide more information for the estimation of the new member and reduce dependence of the AEnKF on the assumed stationary background covariance matrix. This is done by integrating the analysis residuals backward in time with the adjoint model. Numerical experiments are performed with the Lorenz-96 model under different scenarios to test the new approach and to evaluate its performance with respect to the EnKF and the hybrid EnKF/3D-VAR. The new method leads to the least root-mean-square estimation errors as long as the linear assumption guaranteeing the stability of the adjoint model holds. It is also found to be less sensitive to choices of the assimilation system inputs and parameters.

  15. Optimal constrained layer damping with partial coverage

    Science.gov (United States)

    Marcelin, J.-L.; Trompette, Ph.; Smati, A.

    1992-12-01

    This paper deals with the optimal damping of beams constrained by viscoelastic layers when only one or several portions of the beam are covered. An efficient finite element model for dynamic analysis of such beams is used. The design variables are the dimensions and prescribed locations of the viscoelastic layers and the objective is the maximum viscoelastic damping factor. The method for nonlinear programming in structural optimization is the so-called method of moving asymptotes.

  16. Basin-scale runoff prediction: An Ensemble Kalman Filter framework based on global hydrometeorological data sets

    Science.gov (United States)

    Kunstmann, Harald; Lorenz, Christof; Tourian, Mohammad; Devaraju, Balaji; Sneeuw, Nico

    2016-04-01

    In order to cope with the steady decline of the number of in situ gauges worldwide, there is a growing need for alternative methods to estimate runoff. We present an Ensemble Kalman Filter based approach that allows us to conclude on runoff for poorly or irregularly gauged basins. The approach focuses on the application of publicly available global hydrometeorological data sets for precipitation (GPCC, GPCP, CRU, UDEL), evapotranspiration (MODIS, FLUXNET, GLEAM, ERA interim, GLDAS), and water storage changes (GRACE, WGHM, GLDAS, MERRA LAND). Furthermore, runoff data from the GRDC and satellite altimetry derived estimates are used. We follow a least squares prediction that exploits the joint temporal and spatial auto- and cross-covariance structures of precipitation, evapotranspiration, water storage changes and runoff. We further consider time-dependent uncertainty estimates derived from all data sets. Our in-depth analysis comprises of 29 large river basins of different climate regions, with which runoff is predicted for a subset of 16 basins. Six configurations are analyzed: the Ensemble Kalman Filter (Smoother) and the hard (soft) Constrained Ensemble Kalman Filter (Smoother). Comparing the predictions to observed monthly runoff shows correlations larger than 0.5, percentage biases lower than ± 20%, and NSE-values larger than 0.5. A modified NSE-metric, stressing the difference to the mean annual cycle, shows an improvement of runoff predictions for 14 of the 16 basins. The proposed method is able to provide runoff estimates for nearly 100 poorly gauged basins covering an area of more than 11,500,000 km2 with a freshwater discharge, in volume, of more than 125,000 m3/s.

  17. A bias identification and state estimation methodology for nonlinear systems

    Science.gov (United States)

    Caglayan, A. K.; Lancraft, R. E.

    1983-01-01

    A computational algorithm for the identification of input and output biases in discrete-time nonlinear stochastic systems is derived by extending the separate bias estimation results for linear systems to the extended Kalman filter formulation. The merits of the approach are illustrated by identifying instrument biases using a terminal configured vehicle simulation.

  18. Dynamically constrained uncertainty for the Kalman filter covariance in the presence of model error

    Science.gov (United States)

    Grudzien, Colin; Carrassi, Alberto; Bocquet, Marc

    2017-04-01

    The forecasting community has long understood the impact of dynamic instability on the uncertainty of predictions in physical systems and this has led to innovative filtering design to take advantage of the knowledge of process models. The advantages of this combined approach to filtering, including both a dynamic and statistical understanding, have included dimensional reductions and robust feature selection in the observational design of filters. In the context of a perfect models we have shown that the uncertainty in prediction is damped along the directions of stability and the support of the uncertainty conforms to the dominant system instabilities. Our current work likewise demonstrates this constraint on the uncertainty for systems with model error, specifically, - we produce analytical upper bounds on the uncertainty in the stable, backwards orthogonal Lyapunov vectors in terms of the local Lyapunov exponents and the scale of the additive noise. - we demonstrate that for systems with model noise, the least upper bound on the uncertainty depends on the inverse relationship of the leading Lyapunov exponent and the observational certainty. - we numerically compute the invariant scaling factor of the model error which determines the asymptotic uncertainty. This dynamic scaling of model error is identifiable independently of the noise and is computable directly in terms of the system's dynamic invariants -- in this way the physical process itself may mollify the growth of modelling errors. For systems with strongly dissipative behaviour, we demonstrate that the growth of the uncertainty can be confined to the unstable-neutral modes independently of the filtering process, and we connect the observational design to take advantage of a dynamic characteristic of the filtering error.

  19. An Adaptive Kalman Filter Excisor for Suppressing Narrowband Interference

    Science.gov (United States)

    1993-11-01

    interferences in- connues. Le filtre de Kalman doit alors "apprendre" ý ajuster un de ses param~tres pour effectuer le meilleur traitement. L’erreur est...4"L l B"• -- -- - - -.- ,_, . An~. A)7cQ 0 -QGOP II liii 111111 IIa( Naional 06fenso I ’ I Deence nitonals I "It AN ADAPTIVE KALMAN FILTER EXCISOR...Ottawa 0 A o~ oO Best Available COpy 4INational Defense Defence nationals AN ADAPTIVE KALMAN FILTER EXCISOR FOR SUPPRESSING NARROWBAND INTERFERENCE by

  20. A Concept of Approximated Densities for Efficient Nonlinear Estimation

    Directory of Open Access Journals (Sweden)

    Virginie F. Ruiz

    2002-10-01

    Full Text Available This paper presents the theoretical development of a nonlinear adaptive filter based on a concept of filtering by approximated densities (FAD. The most common procedures for nonlinear estimation apply the extended Kalman filter. As opposed to conventional techniques, the proposed recursive algorithm does not require any linearisation. The prediction uses a maximum entropy principle subject to constraints. Thus, the densities created are of an exponential type and depend on a finite number of parameters. The filtering yields recursive equations involving these parameters. The update applies the Bayes theorem. Through simulation on a generic exponential model, the proposed nonlinear filter is implemented and the results prove to be superior to that of the extended Kalman filter and a class of nonlinear filters based on partitioning algorithms.

  1. Kalman Filter Tracking on Parallel Architectures

    CERN Document Server

    Cerati, Giuseppe; Lantz, Steven; McDermott, Kevin; Riley, Dan; Tadel, Matevž; Wittich, Peter; Würthwein, Frank; Yagil, Avi

    2015-01-01

    Power density constraints are limiting the performance improvements of modern CPUs. To address this we have seen the introduction of lower-power, multi-core processors, but the future will be even more exciting. In order to stay within the power density limits but still obtain Moore's Law performance/price gains, it will be necessary to parallelize algorithms to exploit larger numbers of lightweight cores and specialized functions like large vector units. Example technologies today include Intel's Xeon Phi and GPGPUs. Track finding and fitting is one of the most computationally challenging problems for event reconstruction in particle physics. At the High Luminosity LHC, for example, this will be by far the dominant problem. The need for greater parallelism has driven investigations of very different track finding techniques including Cellular Automata or returning to Hough Transform. The most common track finding techniques in use today are however those based on the Kalman Filter. Significant experience has...

  2. Kalman Filter Tracking on Parallel Architectures

    CERN Document Server

    Cerati, Giuseppe; Krutelyov, Slava; Lantz, Steven; Lefebvre, Matthieu; McDermott, Kevin; Riley, Daniel; Tadel, Matevz; Wittich, Peter; Wuerthwein, Frank; Yagil, Avi

    2016-01-01

    Power density constraints are limiting the performance improvements of modern CPUs. To address this we have seen the introduction of lower-power, multi-core processors such as GPGPU, ARM and Intel MIC. To stay within the power density limits but still obtain Moore's Law performance/price gains, it will be necessary to parallelize algorithms to exploit larger numbers of lightweight cores and specialized functions like large vector units. Track finding and fitting is one of the most computationally challenging problems for event reconstruction in particle physics. At the High-Luminosity Large Hadron Collider (HL-LHC), for example, this will be by far the dominant problem. The need for greater parallelism has driven investigations of very different track finding techniques such as Cellular Automata or Hough Transforms. The most common track finding techniques in use today, however, are those based on the Kalman Filter. Significant experience has been accumulated with these techniques on real tracking detector sy...

  3. Vehicle Tracking Using Kalman Filter and Features

    Directory of Open Access Journals (Sweden)

    Amir Salarpour

    2011-09-01

    Full Text Available Vehicle tracking has a wide variety of applications. The image resolution of the video available from most traffic camera system is low. In many cases for tracking multi object, distinguishing them from another isn’t easy because of their similarity. In this paper we describe a method, for tracking multiple objects, where the objects are vehicles. The number of vehicles is unknown and varies. We detect all moving objects, and for tracking of vehicle we use the kalman filter and color feature and distance of it from one frame to the next. So the method can distinguish and tracking all vehicles individually. The proposed algorithm can be applied to multiple moving objects.

  4. Kalman filtering approach to blind equalization

    Science.gov (United States)

    Kutlu, Mehmet

    1993-12-01

    Digital communication systems suffer from the channel distortion problem which introduces errors due to intersymbol interference. The solution to this problem is provided by equalizers which use a training sequence to adapt to the channel. However in many cases in which a training sequence is unfeasible, the channel must be adapted blindly. Most of the blind equalization algorithms known so far have problems of convergence to local minima. Our intention is to offer an alternative approach by using extended Kalman filtering and hidden Markov models. They seem to yield more efficient algorithms which take the statistics of the transmitted sequence into consideration. The theoretical development of these new algorithms is discussed in this thesis. Also these algorithms have been simulated under different conditions. The results of simulations and comparisons with existing systems are provided. The models for simulations are presented as MATLAB codes.

  5. Optimized object tracking technique using Kalman filter

    Directory of Open Access Journals (Sweden)

    Liana Ellen Taylor

    2016-07-01

    Full Text Available This paper focused on the design of an optimized object tracking technique which would minimize the processing time required in the object detection process while maintaining accuracy in detecting the desired moving object in a cluttered scene. A Kalman filter based cropped image is used for the image detection process as the processing time is significantly less to detect the object when a search window is used that is smaller than the entire video frame. This technique was tested with various sizes of the window in the cropping process. MATLAB® was used to design and test the proposed method. This paper found that using a cropped image with 2.16 multiplied by the largest dimension of the object resulted in significantly faster processing time while still providing a high success rate of detection and a detected center of the object that was reasonably close to the actual center.

  6. Evolutionary constrained optimization

    CERN Document Server

    Deb, Kalyanmoy

    2015-01-01

    This book makes available a self-contained collection of modern research addressing the general constrained optimization problems using evolutionary algorithms. Broadly the topics covered include constraint handling for single and multi-objective optimizations; penalty function based methodology; multi-objective based methodology; new constraint handling mechanism; hybrid methodology; scaling issues in constrained optimization; design of scalable test problems; parameter adaptation in constrained optimization; handling of integer, discrete and mix variables in addition to continuous variables; application of constraint handling techniques to real-world problems; and constrained optimization in dynamic environment. There is also a separate chapter on hybrid optimization, which is gaining lots of popularity nowadays due to its capability of bridging the gap between evolutionary and classical optimization. The material in the book is useful to researchers, novice, and experts alike. The book will also be useful...

  7. A Trust Region Method with a Conic Model for Nonlinearly Constrained Optimization%解非线性优化问题的锥模型信赖域方法

    Institute of Scientific and Technical Information of China (English)

    王承竞

    2006-01-01

    Trust region methods are powerful and effective optimization methods. The conic model method is a new type of method with more information available at each iteration than standard quadratic-based methods. The advantages of the above two methods can be combined to form a more powerful method for constrained optimization. The trust region subproblem of our method is to minimize a conic function subject to the linearized constraints and trust region bound. At the same time, the new algorithm still possesses robust global properties. The global convergence of the new algorithm under standard conditions is established.

  8. Analysis of dynamic deformation processes with adaptive KALMAN-filtering

    Science.gov (United States)

    Eichhorn, Andreas

    2007-05-01

    In this paper the approach of a full system analysis is shown quantifying a dynamic structural ("white-box"-) model for the calculation of thermal deformations of bar-shaped machine elements. The task was motivated from mechanical engineering searching new methods for the precise prediction and computational compensation of thermal influences in the heating and cooling phases of machine tools (i.e. robot arms, etc.). The quantification of thermal deformations under variable dynamic loads requires the modelling of the non-stationary spatial temperature distribution inside the object. Based upon FOURIERS law of heat flow the high-grade non-linear temperature gradient is represented by a system of partial differential equations within the framework of a dynamic Finite Element topology. It is shown that adaptive KALMAN-filtering is suitable to quantify relevant disturbance influences and to identify thermal parameters (i.e. thermal diffusivity) with a deviation of only 0,2%. As result an identified (and verified) parametric model for the realistic prediction respectively simulation of dynamic temperature processes is presented. Classifying the thermal bend as the main deformation quantity of bar-shaped machine tools, the temperature model is extended to a temperature deformation model. In lab tests thermal load steps are applied to an aluminum column. Independent control measurements show that the identified model can be used to predict the columns bend with a mean deviation (r.m.s.) smaller than 10 mgon. These results show that the deformation model is a precise predictor and suitable for realistic simulations of thermal deformations. Experiments with modified heat sources will be necessary to verify the model in further frequency spectra of dynamic thermal loads.

  9. ASSIMILATION OF COARSE-SCALEDATAUSINGTHE ENSEMBLE KALMAN FILTER

    KAUST Repository

    Efendiev, Yalchin

    2011-01-01

    Reservoir data is usually scale dependent and exhibits multiscale features. In this paper we use the ensemble Kalman filter (EnKF) to integrate data at different spatial scales for estimating reservoir fine-scale characteristics. Relationships between the various scales is modeled via upscaling techniques. We propose two versions of the EnKF to assimilate the multiscale data, (i) where all the data are assimilated together and (ii) the data are assimilated sequentially in batches. Ensemble members obtained after assimilating one set of data are used as a prior to assimilate the next set of data. Both of these versions are easily implementable with any other upscaling which links the fine to the coarse scales. The numerical results with different methods are presented in a twin experiment setup using a two-dimensional, two-phase (oil and water) flow model. Results are shown with coarse-scale permeability and coarse-scale saturation data. They indicate that additional data provides better fine-scale estimates and fractional flow predictions. We observed that the two versions of the EnKF differed in their estimates when coarse-scale permeability is provided, whereas their results are similar when coarse-scale saturation is used. This behavior is thought to be due to the nonlinearity of the upscaling operator in the case of the former data. We also tested our procedures with various precisions of the coarse-scale data to account for the inexact relationship between the fine and coarse scale data. As expected, the results show that higher precision in the coarse-scale data yielded improved estimates. With better coarse-scale modeling and inversion techniques as more data at multiple coarse scales is made available, the proposed modification to the EnKF could be relevant in future studies.

  10. Potential fire detection based on Kalman-driven change detection

    CSIR Research Space (South Africa)

    Van Den Bergh, F

    2009-07-01

    Full Text Available A new active fire event detection algorithm for data collected with the Spinning Enhanced Visible and Infrared Imager (SEVIRI) sensor, based on the extended Kalman filter, is introduced. Instead of using the observed temperatures of the spatial...

  11. Extension of Kalman-Yakubovich-Popov lemma to descriptor systems

    NARCIS (Netherlands)

    Camlibel, M.K.; Frasca, R.

    2007-01-01

    This paper studies concepts of passivity and positive realness for regular descriptor systems. A complete analogue of the well-known Kalman-Yakubovich-Popov lemma is presented. Some of the earlier related results are recovered from the provided results.

  12. Weighted measurement fusion Kalman estimator for multisensor descriptor system

    Science.gov (United States)

    Dou, Yinfeng; Ran, Chenjian; Gao, Yuan

    2016-08-01

    For the multisensor linear stochastic descriptor system with correlated measurement noises, the fused measurement can be obtained based on the weighted least square (WLS) method, and the reduced-order state components are obtained applying singular value decomposition method. Then, the multisensor descriptor system is transformed to a fused reduced-order non-descriptor system with correlated noise. And the weighted measurement fusion (WMF) Kalman estimator of this reduced-order subsystem is presented. According to the relationship of the presented non-descriptor system and the original descriptor system, the WMF Kalman estimator and its estimation error variance matrix of the original multisensor descriptor system are presented. The presented WMF Kalman estimator has global optimality, and can avoid computing these cross-variances of the local Kalman estimator, compared with the state fusion method. A simulation example about three-sensors stochastic dynamic input and output systems in economy verifies the effectiveness.

  13. Kalman-Takens filtering in the presence of dynamical noise

    CERN Document Server

    Hamilton, Franz; Sauer, Timothy

    2016-01-01

    The use of data assimilation for the merging of observed data with dynamical models is becoming standard in modern physics. If a parametric model is known, methods such as Kalman filtering have been developed for this purpose. If no model is known, a hybrid Kalman-Takens method has been recently introduced, in order to exploit the advantages of optimal filtering in a nonparametric setting. This procedure replaces the parametric model with dynamics reconstructed from delay coordinates, while using the Kalman update formulation to assimilate new observations. We find that this hybrid approach results in comparable efficiency to parametric methods in identifying underlying dynamics, even in the presence of dynamical noise. By combining the Kalman-Takens method with an adaptive filtering procedure we are able to estimate the statistics of the observational and dynamical noise. This solves a long standing problem of separating dynamical and observational noise in time series data, which is especially challenging w...

  14. Kalman filter data assimilation: targeting observations and parameter estimation.

    Science.gov (United States)

    Bellsky, Thomas; Kostelich, Eric J; Mahalov, Alex

    2014-06-01

    This paper studies the effect of targeted observations on state and parameter estimates determined with Kalman filter data assimilation (DA) techniques. We first provide an analytical result demonstrating that targeting observations within the Kalman filter for a linear model can significantly reduce state estimation error as opposed to fixed or randomly located observations. We next conduct observing system simulation experiments for a chaotic model of meteorological interest, where we demonstrate that the local ensemble transform Kalman filter (LETKF) with targeted observations based on largest ensemble variance is skillful in providing more accurate state estimates than the LETKF with randomly located observations. Additionally, we find that a hybrid ensemble Kalman filter parameter estimation method accurately updates model parameters within the targeted observation context to further improve state estimation.

  15. Power system static state estimation using Kalman filter algorithm

    Directory of Open Access Journals (Sweden)

    Saikia Anupam

    2016-01-01

    Full Text Available State estimation of power system is an important tool for operation, analysis and forecasting of electric power system. In this paper, a Kalman filter algorithm is presented for static estimation of power system state variables. IEEE 14 bus system is employed to check the accuracy of this method. Newton Raphson load flow study is first carried out on our test system and a set of data from the output of load flow program is taken as measurement input. Measurement inputs are simulated by adding Gaussian noise of zero mean. The results of Kalman estimation are compared with traditional Weight Least Square (WLS method and it is observed that Kalman filter algorithm is numerically more efficient than traditional WLS method. Estimation accuracy is also tested for presence of parametric error in the system. In addition, numerical stability of Kalman filter algorithm is tested by considering inclusion of zero mean errors in the initial estimates.

  16. Star-sensor-based predictive Kalman filter for satelliteattitude estimation

    Institute of Scientific and Technical Information of China (English)

    林玉荣; 邓正隆

    2002-01-01

    A real-time attitude estimation algorithm, namely the predictive Kalman filter, is presented. This algorithm can accurately estimate the three-axis attitude of a satellite using only star sensor measurements. The implementation of the filter includes two steps: first, predicting the torque modeling error, and then estimating the attitude. Simulation results indicate that the predictive Kalman filter provides robust performance in the presence of both significant errors in the assumed model and in the initial conditions.

  17. On sequential observation processing in localized ensemble Kalman filters

    OpenAIRE

    Nerger, Lars

    2014-01-01

    The different variants of current ensemble square-root Kalman filters assimilate either all observations at once or perform a sequence in which batches of observations or each single observation is assimilated. The sequential observation processing is used in filter algorithms like the ensemble adjustment Kalman filter (EAKF) and the ensemble square-root filter (EnSRF) and can result in computationally efficient algorithms because matrix inversions in the observation space are reduced to the ...

  18. LHCb: Alignment of the LHCb Detector with Kalman Filter Fitted Tracks

    CERN Multimedia

    Amoraal, J; Hulsbergen, W; Needham, M; Nicolas, L; Pozzi, S; Raven, G; Vecchi, S

    2009-01-01

    We report on an implementation of a global chisquare algorithm for the simultaneous alignment of all tracking systems in the LHCb detector. Our algorithm uses hit residuals from the standard LHCb track fit which is based on a Kalman filter. The algorithm is implemented in the LHCb reconstruction framework and exploits the fact that all sensitive detector elements have the same geometry interface. A vertex constraint is implemented by fitting tracks to a common point and propagating the change in track parameters to the hit residuals. To remove unconstrained or poorly constrained degrees of freedom (so-called weak modes) the average movements of (subsets of) alignable detector elements can be fixed with Lagrange constraints. Alternatively, weak modes can be removed with a cutoff in the eigenvalue spectrum of the second derivative of the chisquare. As for all LHCb reconstruction and analysis software the configuration of the algorithm is done in python and gives detailed control over the selection of alignable ...

  19. 抑制扩频系统中窄带干扰的新卡尔曼滤波算法%New Kalman Filtering Algorithm for Narrowband Interference Suppression in Spread Spectrum Systems

    Institute of Scientific and Technical Information of China (English)

    许光辉; 胡光锐

    2005-01-01

    A new Kalman filtering algorithm based on estimation of spread spectrum signal before suppression of narrowband interference (NBI) in spread spectrum systems, using the dependence of autoregressive (AR) interference, is presented compared with performance of the ACM nonlinear filtering algorithm, simulation results show that the proposed algorithm has preferable performance, there is about 5 dB SNR improvement in average.

  20. Kalman Filtering with Inequality Constraints for Turbofan Engine Health Estimation

    Science.gov (United States)

    Simon, Dan; Simon, Donald L.

    2003-01-01

    Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints (which may be based on physical considerations) are often neglected because they do not fit easily into the structure of the Kalman filter. This paper develops two analytic methods of incorporating state variable inequality constraints in the Kalman filter. The first method is a general technique of using hard constraints to enforce inequalities on the state variable estimates. The resultant filter is a combination of a standard Kalman filter and a quadratic programming problem. The second method uses soft constraints to estimate state variables that are known to vary slowly with time. (Soft constraints are constraints that are required to be approximately satisfied rather than exactly satisfied.) The incorporation of state variable constraints increases the computational effort of the filter but significantly improves its estimation accuracy. The improvement is proven theoretically and shown via simulation results. The use of the algorithm is demonstrated on a linearized simulation of a turbofan engine to estimate health parameters. The turbofan engine model contains 16 state variables, 12 measurements, and 8 component health parameters. It is shown that the new algorithms provide improved performance in this example over unconstrained Kalman filtering.

  1. Estimating Value at Risk with the Generalized Kalman Filter%基于Generalized Kalman Filter的VaR估计

    Institute of Scientific and Technical Information of China (English)

    赵利锋; 张崇岐

    2009-01-01

    在应用Kalman Filter方法估计时变风险β系数的基础上,引入Generalized Kalman Filter方法来估计时变卢系数,再通过Sharp对角线模型计算投资组合的VaR,并运用Backtesting检验判断两方法估计VaR的精确度.

  2. Reverse Engineering Sparse Gene Regulatory Networks Using Cubature Kalman Filter and Compressed Sensing

    Directory of Open Access Journals (Sweden)

    Amina Noor

    2013-01-01

    Full Text Available This paper proposes a novel algorithm for inferring gene regulatory networks which makes use of cubature Kalman filter (CKF and Kalman filter (KF techniques in conjunction with compressed sensing methods. The gene network is described using a state-space model. A nonlinear model for the evolution of gene expression is considered, while the gene expression data is assumed to follow a linear Gaussian model. The hidden states are estimated using CKF. The system parameters are modeled as a Gauss-Markov process and are estimated using compressed sensing-based KF. These parameters provide insight into the regulatory relations among the genes. The Cramér-Rao lower bound of the parameter estimates is calculated for the system model and used as a benchmark to assess the estimation accuracy. The proposed algorithm is evaluated rigorously using synthetic data in different scenarios which include different number of genes and varying number of sample points. In addition, the algorithm is tested on the DREAM4 in silico data sets as well as the in vivo data sets from IRMA network. The proposed algorithm shows superior performance in terms of accuracy, robustness, and scalability.

  3. An Unscented Kalman-Particle Hybrid Filter for Space Object Tracking

    Science.gov (United States)

    Raihan A. V, Dilshad; Chakravorty, Suman

    2017-04-01

    Optimal and consistent estimation of the state of space objects is pivotal to surveillance and tracking applications. However, probabilistic estimation of space objects is made difficult by the non-Gaussianity and nonlinearity associated with orbital mechanics. In this paper, we present an unscented Kalman-particle hybrid filtering framework for recursive Bayesian estimation of space objects. The hybrid filtering scheme is designed to provide accurate and consistent estimates when measurements are sparse without incurring a large computational cost. It employs an unscented Kalman filter (UKF) for estimation when measurements are available. When the target is outside the field of view (FOV) of the sensor, it updates the state probability density function (PDF) via a sequential Monte Carlo method. The hybrid filter addresses the problem of particle depletion through a suitably designed filter transition scheme. To assess the performance of the hybrid filtering approach, we consider two test cases of space objects that are assumed to undergo full three dimensional orbital motion under the effects of J 2 and atmospheric drag perturbations. It is demonstrated that the hybrid filters can furnish fast, accurate and consistent estimates outperforming standard UKF and particle filter (PF) implementations.

  4. Relationships between observer and Kalman Filter models for human dynamic spatial orientation.

    Science.gov (United States)

    Selva, Pierre; Oman, Charles M

    2012-01-01

    How does the central nervous system (CNS) combine sensory information from semicircular canal, otolith, and visual systems into perceptions of rotation, translation and tilt? Over the past four decades, a variety of input-output ("black box") mathematical models have been proposed to predict human dynamic spatial orientation perception and eye movements. The models have proved useful in vestibular diagnosis, aircraft accident investigation, and flight simulator design. Experimental refinement continues. This paper briefly reviews the history of two widely known model families, the linear "Kalman Filter" and the nonlinear "Observer". Recent physiologic data supports the internal model assumptions common to both. We derive simple 1-D and 3-D examples of each model for vestibular inputs, and show why - despite apparently different structure and assumptions - the linearized model predictions are dynamically equivalent when the four free model parameters are adjusted to fit the same empirical data, and perceived head orientation remains near upright. We argue that the motion disturbance and sensor noise spectra employed in the Kalman Filter formulation may reflect normal movements in daily life and perceptual thresholds, and thus justify the interpretation that the CNS cue blending scheme may well minimize least squares angular velocity perceptual errors.

  5. A simulation study of turbofan engine deterioration estimation using Kalman filtering techniques

    Science.gov (United States)

    Lambert, Heather H.

    1991-01-01

    Deterioration of engine components may cause off-normal engine operation. The result is an unecessary loss of performance, because the fixed schedules are designed to accommodate a wide range of engine health. These fixed control schedules may not be optimal for a deteriorated engine. This problem may be solved by including a measure of deterioration in determining the control variables. These engine deterioration parameters usually cannot be measured directly but can be estimated. A Kalman filter design is presented for estimating two performance parameters that account for engine deterioration: high and low pressure turbine delta efficiencies. The delta efficiency parameters model variations of the high and low pressure turbine efficiencies from nominal values. The filter has a design condition of Mach 0.90, 30,000 ft altitude, and 47 deg power level angle (PLA). It was evaluated using a nonlinear simulation of the F100 engine model derivative (EMD) engine, at the design Mach number and altitude over a PLA range of 43 to 55 deg. It was found that known high pressure turbine delta efficiencies of -2.5 percent and low pressure turbine delta efficiencies of -1.0 percent can be estimated with an accuracy of + or - 0.25 percent efficiency with a Kalman filter. If both the high and low pressure turbine are deteriorated, the delta efficiencies of -2.5 percent to both turbines can be estimated with the same accuracy.

  6. 基于平方根UKF的SLAM算法%Square root Unscented Kalman Filter based SLAM

    Institute of Scientific and Technical Information of China (English)

    李树荣; 倪朋飞

    2011-01-01

    Simultaneous Localization and Mapping (SLAM) is concerned to be the key point to realize the real autonomy of mobile robot.Unscented Kalman Filter(UKP) is widely applied in SLAM problem because of its directly using of nonlinear modcl.Conceming that square root filter can ensure non-negative definite of the covariance matrix.This article introduces square root unscented Kalman filter into SLAM problem and ensures its stability.This algorithm also gains a more accurate estimation compared to UICF based SLAM.Simulation results show that this algorithm is effective.%同步定位与地图构建( SLAM)是移动机器人实现真正自主的关键,无迹卡尔曼滤波(UKF)由于直接利用系统非线性模型而在SLAM问题中得到广泛的应用.基于平方根滤波可以确保协方差矩阵的非负定的思想,将平方根UKF应用到SLAM问题中,确保了SLAM算法的稳定性,并得到了较高的估计精度.仿真结果表明,该算法是有效的.

  7. Expanding the validity of the ensemble Kalman filter without the intrinsic need for inflation

    Directory of Open Access Journals (Sweden)

    M. Bocquet

    2015-07-01

    Full Text Available The ensemble Kalman filter (EnKF is a powerful data assimilation method meant for high-dimensional nonlinear systems. But its implementation requires fixes such as localization and inflation. The recently developed finite-size ensemble Kalman filter (EnKF-N does not require multiplicative inflation meant to counteract sampling errors. Aside from the practical interest of avoiding the tuning of inflation in perfect model data assimilation experiments, it also offers theoretical insights and a unique perspective on the EnKF. Here, we revisit, clarify and correct several key points of the EnKF-N derivation. This simplifies the use of the method, and expands its validity. The EnKF is shown to not only rely on the observations and the forecast ensemble but also on an implicit prior assumption, termed hyperprior, that fills in the gap of missing information. In the EnKF-N framework, this assumption is made explicit through a Bayesian hierarchy. This hyperprior has been so far chosen to be the uninformative Jeffreys' prior. Here, this choice is revisited to improve the performance of the EnKF-N in the regime where the analysis strongly relaxes to the prior. Moreover, it is shown that the EnKF-N can be extended with a normal-inverse-Wishart informative hyperprior that additionally introduces climatological error statistics. This can be identified as a hybrid 3D-Var/EnKF counterpart to the EnKF-N.

  8. Fault detection and isolation for a full-scale railway vehicle suspension with multiple Kalman filters

    Science.gov (United States)

    Jesussek, Mathias; Ellermann, Katrin

    2014-12-01

    Reliability and dependability in complex mechanical systems can be improved by fault detection and isolation (FDI) methods. These techniques are key elements for maintenance on demand, which could decrease service cost and time significantly. This paper addresses FDI for a railway vehicle: the mechanical model is described as a multibody system, which is excited randomly due to track irregularities. Various parameters, like masses, spring- and damper-characteristics, influence the dynamics of the vehicle. Often, the exact values of the parameters are unknown and might even change over time. Some of these changes are considered critical with respect to the operation of the system and they require immediate maintenance. The aim of this work is to detect faults in the suspension system of the vehicle. A Kalman filter is used in order to estimate the states. To detect and isolate faults the detection error is minimised with multiple Kalman filters. A full-scale train model with nonlinear wheel/rail contact serves as an example for the described techniques. Numerical results for different test cases are presented. The analysis shows that for the given system it is possible not only to detect a failure of the suspension system from the system's dynamic response, but also to distinguish clearly between different possible causes for the changes in the dynamical behaviour.

  9. Choosing health, constrained choices.

    Science.gov (United States)

    Chee Khoon Chan

    2009-12-01

    In parallel with the neo-liberal retrenchment of the welfarist state, an increasing emphasis on the responsibility of individuals in managing their own affairs and their well-being has been evident. In the health arena for instance, this was a major theme permeating the UK government's White Paper Choosing Health: Making Healthy Choices Easier (2004), which appealed to an ethos of autonomy and self-actualization through activity and consumption which merited esteem. As a counterpoint to this growing trend of informed responsibilization, constrained choices (constrained agency) provides a useful framework for a judicious balance and sense of proportion between an individual behavioural focus and a focus on societal, systemic, and structural determinants of health and well-being. Constrained choices is also a conceptual bridge between responsibilization and population health which could be further developed within an integrative biosocial perspective one might refer to as the social ecology of health and disease.

  10. A Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation

    Directory of Open Access Journals (Sweden)

    Leandro Vargas-Meléndez

    2016-08-01

    Full Text Available This article presents a novel estimator based on sensor fusion, which combines the Neural Network (NN with a Kalman filter in order to estimate the vehicle roll angle. The NN estimates a “pseudo-roll angle” through variables that are easily measured from Inertial Measurement Unit (IMU sensors. An IMU is a device that is commonly used for vehicle motion detection, and its cost has decreased during recent years. The pseudo-roll angle is introduced in the Kalman filter in order to filter noise and minimize the variance of the norm and maximum errors’ estimation. The NN has been trained for J-turn maneuvers, double lane change maneuvers and lane change maneuvers at different speeds and road friction coefficients. The proposed method takes into account the vehicle non-linearities, thus yielding good roll angle estimation. Finally, the proposed estimator has been compared with one that uses the suspension deflections to obtain the pseudo-roll angle. Experimental results show the effectiveness of the proposed NN and Kalman filter-based estimator.

  11. A Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation.

    Science.gov (United States)

    Vargas-Meléndez, Leandro; Boada, Beatriz L; Boada, María Jesús L; Gauchía, Antonio; Díaz, Vicente

    2016-08-31

    This article presents a novel estimator based on sensor fusion, which combines the Neural Network (NN) with a Kalman filter in order to estimate the vehicle roll angle. The NN estimates a "pseudo-roll angle" through variables that are easily measured from Inertial Measurement Unit (IMU) sensors. An IMU is a device that is commonly used for vehicle motion detection, and its cost has decreased during recent years. The pseudo-roll angle is introduced in the Kalman filter in order to filter noise and minimize the variance of the norm and maximum errors' estimation. The NN has been trained for J-turn maneuvers, double lane change maneuvers and lane change maneuvers at different speeds and road friction coefficients. The proposed method takes into account the vehicle non-linearities, thus yielding good roll angle estimation. Finally, the proposed estimator has been compared with one that uses the suspension deflections to obtain the pseudo-roll angle. Experimental results show the effectiveness of the proposed NN and Kalman filter-based estimator.

  12. Constrained optimization using CODEQ

    Energy Technology Data Exchange (ETDEWEB)

    Omran, Mahamed G.H. [Department of Computer Science, Gulf University for Science and Technology, P.O. Box 7207, Hawally 32093 (Kuwait)], E-mail: omran.m@gust.edu.kw; Salman, Ayed [Computer Engineering Department, Kuwait University, P.O. Box 5969, Safat 13060 (Kuwait)], E-mail: ayed@eng.kuniv.edu.kw

    2009-10-30

    Many real-world optimization problems are constrained problems that involve equality and inequality constraints. CODEQ is a new, parameter-free meta-heuristic algorithm that is a hybrid of concepts from chaotic search, opposition-based learning, differential evolution and quantum mechanics. The performance of the proposed approach when applied to five constrained benchmark problems is investigated and compared with other approaches proposed in the literature. The experiments conducted show that CODEQ provides excellent results with the added advantage of no parameter tuning.

  13. Linearly constrained minimax optimization

    DEFF Research Database (Denmark)

    Madsen, Kaj; Schjær-Jacobsen, Hans

    1978-01-01

    We present an algorithm for nonlinear minimax optimization subject to linear equality and inequality constraints which requires first order partial derivatives. The algorithm is based on successive linear approximations to the functions defining the problem. The resulting linear subproblems...

  14. Reduced-Order Kalman Filtering for Processing Relative Measurements

    Science.gov (United States)

    Bayard, David S.

    2008-01-01

    A study in Kalman-filter theory has led to a method of processing relative measurements to estimate the current state of a physical system, using less computation than has previously been thought necessary. As used here, relative measurements signifies measurements that yield information on the relationship between a later and an earlier state of the system. An important example of relative measurements arises in computer vision: Information on relative motion is extracted by comparing images taken at two different times. Relative measurements do not directly fit into standard Kalman filter theory, in which measurements are restricted to those indicative of only the current state of the system. One approach heretofore followed in utilizing relative measurements in Kalman filtering, denoted state augmentation, involves augmenting the state of the system at the earlier of two time instants and then propagating the state to the later time instant.While state augmentation is conceptually simple, it can also be computationally prohibitive because it doubles the number of states in the Kalman filter. When processing a relative measurement, if one were to follow the state-augmentation approach as practiced heretofore, one would find it necessary to propagate the full augmented state Kalman filter from the earlier time to the later time and then select out the reduced-order components. The main result of the study reported here is proof of a property called reduced-order equivalence (ROE). The main consequence of ROE is that it is not necessary to augment with the full state, but, rather, only the portion of the state that is explicitly used in the partial relative measurement. In other words, it suffices to select the reduced-order components first and then propagate the partial augmented state Kalman filter from the earlier time to the later time; the amount of computation needed to do this can be substantially less than that needed for propagating the full augmented

  15. Motion estimation using point cluster method and Kalman filter.

    Science.gov (United States)

    Senesh, M; Wolf, A

    2009-05-01

    The most frequently used method in a three dimensional human gait analysis involves placing markers on the skin of the analyzed segment. This introduces a significant artifact, which strongly influences the bone position and orientation and joint kinematic estimates. In this study, we tested and evaluated the effect of adding a Kalman filter procedure to the previously reported point cluster technique (PCT) in the estimation of a rigid body motion. We demonstrated the procedures by motion analysis of a compound planar pendulum from indirect opto-electronic measurements of markers attached to an elastic appendage that is restrained to slide along the rigid body long axis. The elastic frequency is close to the pendulum frequency, as in the biomechanical problem, where the soft tissue frequency content is similar to the actual movement of the bones. Comparison of the real pendulum angle to that obtained by several estimation procedures--PCT, Kalman filter followed by PCT, and low pass filter followed by PCT--enables evaluation of the accuracy of the procedures. When comparing the maximal amplitude, no effect was noted by adding the Kalman filter; however, a closer look at the signal revealed that the estimated angle based only on the PCT method was very noisy with fluctuation, while the estimated angle based on the Kalman filter followed by the PCT was a smooth signal. It was also noted that the instantaneous frequencies obtained from the estimated angle based on the PCT method is more dispersed than those obtained from the estimated angle based on Kalman filter followed by the PCT method. Addition of a Kalman filter to the PCT method in the estimation procedure of rigid body motion results in a smoother signal that better represents the real motion, with less signal distortion than when using a digital low pass filter. Furthermore, it can be concluded that adding a Kalman filter to the PCT procedure substantially reduces the dispersion of the maximal and minimal

  16. Kinematic landslide monitoring with Kalman filtering

    Directory of Open Access Journals (Sweden)

    M. Acar

    2008-03-01

    Full Text Available Landslides are serious geologic disasters that threat human life and property in every country. In addition, landslides are one of the most important natural phenomena, which directly or indirectly affect countries' economy. Turkey is also the country that is under the threat of landslides. Landslides frequently occur in all of the Black Sea region as well as in many parts of Marmara, East Anatolia, and Mediterranean regions. Since these landslides resulted in destruction, they are ranked as the second important natural phenomenon that comes after earthquake in Turkey. In recent years several landslides happened after heavy rains and the resulting floods. This makes the landslide monitoring and mitigation techniques an important study subject for the related professional disciplines in Turkey. The investigations on surface deformations are conducted to define the boundaries of the landslide, size, level of activity and direction(s of the movement, and to determine individual moving blocks of the main slide.

    This study focuses on the use of a kinematic deformation analysis based on Kalman Filtering at a landslide area near Istanbul. Kinematic deformation analysis has been applied in a landslide area, which is located to the north of Istanbul city. Positional data were collected using GPS technique. As part of the study, conventional static deformation analysis methodology has also been applied on the same data. The results and comparisons are discussed in this paper.

  17. Multivariate localization methods for ensemble Kalman filtering

    KAUST Repository

    Roh, S.

    2015-05-08

    In ensemble Kalman filtering (EnKF), the small number of ensemble members that is feasible to use in a practical data assimilation application leads to sampling variability of the estimates of the background error covariances. The standard approach to reducing the effects of this sampling variability, which has also been found to be highly efficient in improving the performance of EnKF, is the localization of the estimates of the covariances. One family of localization techniques is based on taking the Schur (entry-wise) product of the ensemble-based sample covariance matrix and a correlation matrix whose entries are obtained by the discretization of a distance-dependent correlation function. While the proper definition of the localization function for a single state variable has been extensively investigated, a rigorous definition of the localization function for multiple state variables has been seldom considered. This paper introduces two strategies for the construction of localization functions for multiple state variables. The proposed localization functions are tested by assimilating simulated observations experiments into the bivariate Lorenz 95 model with their help.

  18. Subspace System Identification of the Kalman Filter

    Directory of Open Access Journals (Sweden)

    David Di Ruscio

    2003-07-01

    Full Text Available Some proofs concerning a subspace identification algorithm are presented. It is proved that the Kalman filter gain and the noise innovations process can be identified directly from known input and output data without explicitly solving the Riccati equation. Furthermore, it is in general and for colored inputs, proved that the subspace identification of the states only is possible if the deterministic part of the system is known or identified beforehand. However, if the inputs are white, then, it is proved that the states can be identified directly. Some alternative projection matrices which can be used to compute the extended observability matrix directly from the data are presented. Furthermore, an efficient method for computing the deterministic part of the system is presented. The closed loop subspace identification problem is also addressed and it is shown that this problem is solved and unbiased estimates are obtained by simply including a filter in the feedback. Furthermore, an algorithm for consistent closed loop subspace estimation is presented. This algorithm is using the controller parameters in order to overcome the bias problem.

  19. Multivariate localization methods for ensemble Kalman filtering

    KAUST Repository

    Roh, S.

    2015-12-03

    In ensemble Kalman filtering (EnKF), the small number of ensemble members that is feasible to use in a practical data assimilation application leads to sampling variability of the estimates of the background error covariances. The standard approach to reducing the effects of this sampling variability, which has also been found to be highly efficient in improving the performance of EnKF, is the localization of the estimates of the covariances. One family of localization techniques is based on taking the Schur (element-wise) product of the ensemble-based sample covariance matrix and a correlation matrix whose entries are obtained by the discretization of a distance-dependent correlation function. While the proper definition of the localization function for a single state variable has been extensively investigated, a rigorous definition of the localization function for multiple state variables that exist at the same locations has been seldom considered. This paper introduces two strategies for the construction of localization functions for multiple state variables. The proposed localization functions are tested by assimilating simulated observations experiments into the bivariate Lorenz 95 model with their help.

  20. Multivariate localization methods for ensemble Kalman filtering

    Directory of Open Access Journals (Sweden)

    S. Roh

    2015-05-01

    Full Text Available In ensemble Kalman filtering (EnKF, the small number of ensemble members that is feasible to use in a practical data assimilation application leads to sampling variability of the estimates of the background error covariances. The standard approach to reducing the effects of this sampling variability, which has also been found to be highly efficient in improving the performance of EnKF, is the localization of the estimates of the covariances. One family of localization techniques is based on taking the Schur (entry-wise product of the ensemble-based sample covariance matrix and a correlation matrix whose entries are obtained by the discretization of a distance-dependent correlation function. While the proper definition of the localization function for a single state variable has been extensively investigated, a rigorous definition of the localization function for multiple state variables has been seldom considered. This paper introduces two strategies for the construction of localization functions for multiple state variables. The proposed localization functions are tested by assimilating simulated observations experiments into the bivariate Lorenz 95 model with their help.

  1. Kalman Filter for Spinning Spacecraft Attitude Estimation

    Science.gov (United States)

    Markley, F. Landis; Sedlak, Joseph E.

    2008-01-01

    This paper presents a Kalman filter using a seven-component attitude state vector comprising the angular momentum components in an inertial reference frame, the angular momentum components in the body frame, and a rotation angle. The relatively slow variation of these parameters makes this parameterization advantageous for spinning spacecraft attitude estimation. The filter accounts for the constraint that the magnitude of the angular momentum vector is the same in the inertial and body frames by employing a reduced six-component error state. Four variants of the filter, defined by different choices for the reduced error state, are tested against a quaternion-based filter using simulated data for the THEMIS mission. Three of these variants choose three of the components of the error state to be the infinitesimal attitude error angles, facilitating the computation of measurement sensitivity matrices and causing the usual 3x3 attitude covariance matrix to be a submatrix of the 6x6 covariance of the error state. These variants differ in their choice for the other three components of the error state. The variant employing the infinitesimal attitude error angles and the angular momentum components in an inertial reference frame as the error state shows the best combination of robustness and efficiency in the simulations. Attitude estimation results using THEMIS flight data are also presented.

  2. Ensemble Kalman filtering with residual nudging

    CERN Document Server

    Luo, Xiaodong; 10.3402/tellusa.v64i0.17130

    2012-01-01

    Covariance inflation and localization are two important techniques that are used to improve the performance of the ensemble Kalman filter (EnKF) by (in effect) adjusting the sample covariances of the estimates in the state space. In this work an additional auxiliary technique, called residual nudging, is proposed to monitor and, if necessary, adjust the residual norms of state estimates in the observation space. In an EnKF with residual nudging, if the residual norm of an analysis is larger than a pre-specified value, then the analysis is replaced by a new one whose residual norm is no larger than a pre-specified value. Otherwise the analysis is considered as a reasonable estimate and no change is made. A rule for choosing the pre-specified value is suggested. Based on this rule, the corresponding new state estimates are explicitly derived in case of linear observations. Numerical experiments in the 40-dimensional Lorenz 96 model show that introducing residual nudging to an EnKF may improve its accuracy and/o...

  3. Multivariate localization methods for ensemble Kalman filtering

    Science.gov (United States)

    Roh, S.; Jun, M.; Szunyogh, I.; Genton, M. G.

    2015-12-01

    In ensemble Kalman filtering (EnKF), the small number of ensemble members that is feasible to use in a practical data assimilation application leads to sampling variability of the estimates of the background error covariances. The standard approach to reducing the effects of this sampling variability, which has also been found to be highly efficient in improving the performance of EnKF, is the localization of the estimates of the covariances. One family of localization techniques is based on taking the Schur (element-wise) product of the ensemble-based sample covariance matrix and a correlation matrix whose entries are obtained by the discretization of a distance-dependent correlation function. While the proper definition of the localization function for a single state variable has been extensively investigated, a rigorous definition of the localization function for multiple state variables that exist at the same locations has been seldom considered. This paper introduces two strategies for the construction of localization functions for multiple state variables. The proposed localization functions are tested by assimilating simulated observations experiments into the bivariate Lorenz 95 model with their help.

  4. Ensemble Kalman filtering with residual nudging

    Directory of Open Access Journals (Sweden)

    Xiaodong Luo

    2012-10-01

    Full Text Available Covariance inflation and localisation are two important techniques that are used to improve the performance of the ensemble Kalman filter (EnKF by (in effect adjusting the sample covariances of the estimates in the state space. In this work, an additional auxiliary technique, called residual nudging, is proposed to monitor and, if necessary, adjust the residual norms of state estimates in the observation space. In an EnKF with residual nudging, if the residual norm of an analysis is larger than a pre-specified value, then the analysis is replaced by a new one whose residual norm is no larger than a pre-specified value. Otherwise, the analysis is considered as a reasonable estimate and no change is made. A rule for choosing the pre-specified value is suggested. Based on this rule, the corresponding new state estimates are explicitly derived in case of linear observations. Numerical experiments in the 40-dimensional Lorenz 96 model show that introducing residual nudging to an EnKF may improve its accuracy and/or enhance its stability against filter divergence, especially in the small ensemble scenario.

  5. Ensemble Kalman filtering with residual nudging

    KAUST Repository

    Luo, X.

    2012-10-03

    Covariance inflation and localisation are two important techniques that are used to improve the performance of the ensemble Kalman filter (EnKF) by (in effect) adjusting the sample covariances of the estimates in the state space. In this work, an additional auxiliary technique, called residual nudging, is proposed to monitor and, if necessary, adjust the residual norms of state estimates in the observation space. In an EnKF with residual nudging, if the residual norm of an analysis is larger than a pre-specified value, then the analysis is replaced by a new one whose residual norm is no larger than a pre-specified value. Otherwise, the analysis is considered as a reasonable estimate and no change is made. A rule for choosing the pre-specified value is suggested. Based on this rule, the corresponding new state estimates are explicitly derived in case of linear observations. Numerical experiments in the 40-dimensional Lorenz 96 model show that introducing residual nudging to an EnKF may improve its accuracy and/or enhance its stability against filter divergence, especially in the small ensemble scenario.

  6. Sundance: High-Level Software for PDE-Constrained Optimization

    Directory of Open Access Journals (Sweden)

    Kevin Long

    2012-01-01

    Full Text Available Sundance is a package in the Trilinos suite designed to provide high-level components for the development of high-performance PDE simulators with built-in capabilities for PDE-constrained optimization. We review the implications of PDE-constrained optimization on simulator design requirements, then survey the architecture of the Sundance problem specification components. These components allow immediate extension of a forward simulator for use in an optimization context. We show examples of the use of these components to develop full-space and reduced-space codes for linear and nonlinear PDE-constrained inverse problems.

  7. Constrained superfields in supergravity

    Energy Technology Data Exchange (ETDEWEB)

    Dall’Agata, Gianguido; Farakos, Fotis [Dipartimento di Fisica ed Astronomia “Galileo Galilei”, Università di Padova,Via Marzolo 8, 35131 Padova (Italy); INFN, Sezione di Padova,Via Marzolo 8, 35131 Padova (Italy)

    2016-02-16

    We analyze constrained superfields in supergravity. We investigate the consistency and solve all known constraints, presenting a new class that may have interesting applications in the construction of inflationary models. We provide the superspace Lagrangians for minimal supergravity models based on them and write the corresponding theories in component form using a simplifying gauge for the goldstino couplings.

  8. NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP

    Institute of Scientific and Technical Information of China (English)

    ZHOU Bo; HAN Jianda

    2007-01-01

    In order to achieve precise, robust autonomous guidance and control of a tracked vehicle, a kinematic model with longitudinal and lateral slip is established. Four different nonlinear filters are used to estimate both state vector and time-varying parameter vector of the created model jointly. The first filter is the well-known extended Kalman filter. The second filter is an unscented version of the Kalman filter. The third one is a particle filter using the unscented Kalman filter to generate the importance proposal distribution. The last one is a novel and guaranteed filter that uses a linear set-membership estimator and can give an ellipsoid set in which the true state lies. The four different approaches have different complexities, behavior and advantages that are surveyed and compared.

  9. A novel Kalman filter based video image processing scheme for two-photon fluorescence microscopy

    Science.gov (United States)

    Sun, Wenqing; Huang, Xia; Li, Chunqiang; Xiao, Chuan; Qian, Wei

    2016-03-01

    Two-photon fluorescence microscopy (TPFM) is a perfect optical imaging equipment to monitor the interaction between fast moving viruses and hosts. However, due to strong unavoidable background noises from the culture, videos obtained by this technique are too noisy to elaborate this fast infection process without video image processing. In this study, we developed a novel scheme to eliminate background noises, recover background bacteria images and improve video qualities. In our scheme, we modified and implemented the following methods for both host and virus videos: correlation method, round identification method, tree-structured nonlinear filters, Kalman filters, and cell tracking method. After these procedures, most of noises were eliminated and host images were recovered with their moving directions and speed highlighted in the videos. From the analysis of the processed videos, 93% bacteria and 98% viruses were correctly detected in each frame on average.

  10. Hybrid Levenberg–Marquardt and weak constraint ensemble Kalman smoother method

    Directory of Open Access Journals (Sweden)

    J. Mandel

    2015-05-01

    Full Text Available We propose to use the ensemble Kalman smoother (EnKS as the linear least squares solver in the Gauss–Newton method for the large nonlinear least squares in incremental 4DVAR. The ensemble approach is naturally parallel over the ensemble members and no tangent or adjoint operators are needed. Further, adding a regularization term results in replacing the Gauss–Newton method, which may diverge, by the Levenberg–Marquardt method, which is known to be convergent. The regularization is implemented efficiently as an additional observation in the EnKS. The method is illustrated on the Lorenz 63 and the two-level quasi-geostrophic model problems.

  11. An optimal algorithm based on extended kalman filter and the data fusion for infrared touch overlay

    Science.gov (United States)

    Zhou, AiGuo; Cheng, ShuYi; Pan, Qiang Biao; Sun, Dong Yu

    2016-01-01

    Current infrared touch overlay has problems on the touch point recognition which bring some burrs on the touch trajectory. This paper uses the target tracking algorithm to improve the recognition and smoothness of infrared touch overlay. In order to deal with the nonlinear state estimate problem for touch point tracking, we use the extended Kalman filter in the target tracking algorithm. And we also use the data fusion algorithm to match the estimate value with the original target trajectory. The experimental results of the infrared touch overlay demonstrate that the proposed target tracking approach can improve the touch point recognition of the infrared touch overlay and achieve much smoother tracking trajectory than the existing tracking approach.

  12. On Convergence of the Unscented Kalman-Bucy Filter using Contraction Theory

    DEFF Research Database (Denmark)

    Maree, J.P.; Imsland, Lars; Jouffroy, Jerome

    2016-01-01

    Contraction theory entails a theoretical framework in which convergence of a nonlinear system can be analysed differentially in an appropriate contraction metric. This paper is concerned with utilizing stochastic contraction theory to conclude on exponential convergence of the Unscented Kalman......-Bucy Filter. The underlying process and measurement models of interest are Itô-type stochastic differential equations. In particular, statistical linearisation techniques are employed in a virtual-actual systems framework to establish deterministic contraction of the estimated expected mean of process values....... Under mild conditions of bounded process noise, we extend the results on deterministic contraction to stochastic contraction of the estimated expected mean of process state. It follows that for regions of contraction, a result on convergence, and thereby incremental stability, is concluded...

  13. Determining Key Model Parameters of Rapidly Intensifying Hurricane Guillermo(1997) using the Ensemble Kalman Filter

    CERN Document Server

    Godinez, Humberto C; Fierro, Alexandre O; Guimond, Stephen R; Kao, Jim

    2011-01-01

    In this work we present the assimilation of dual-Doppler radar observations for rapidly intensifying hurricane Guillermo (1997) using the Ensemble Kalman Filter (EnKF) to determine key model parameters. A unique aspect of Guillermo was that during the period of radar observations strong convective bursts, attributable to wind shear, formed primarily within the eastern semicircle of the eyewall. To reproduce this observed structure within a hurricane model, background wind shear of some magnitude must be specified; as well as turbulence and surface parameters appropriately specified so that the impact of the shear on the simulated hurricane vortex can be realized. To first illustrate the complex nonlinear interactions induced by changes in these parameters, an ensemble of 120 simulations have been conducted in which individual members were formulated by sampling the parameters within a certain range via a Latin hypercube approach. Next, data from the 120 simulations and two distinct derived fields of observati...

  14. Simultaneous estimation of phase derivative and phase using parallel Kalman filter implementation

    Science.gov (United States)

    Kulkarni, Rishikesh; Rastogi, Pramod

    2016-06-01

    This paper proposes a technique for the simultaneous estimation of interference phase derivative and phase from a complex interferogram recorded in an optical interferometric setup. The complex interferogram is represented as a spatially varying autoregressive process in a given row or column at a time. The phase derivative is estimated from the poles of the transfer function representation of the autoregressive process. The poles are computed using the spatially varying autoregressive coefficients which are estimated by a computationally efficient Rauch-Tung-Striebel smoothing algorithm. The estimated phase derivative is used as a control input to a state space model designed for the phase estimation at each pixel. The unscented Kalman filter is utilized to deal with the nonlinear measurement process for the accurate estimation of the unwrapped phase. Numerical and experimental results substantiate the ability of the proposed method in handling noisy phase fringe patterns.

  15. A framework for backbone experimental tracking : Piezoelectric actuators, stop-sine signal and Kalman filtering

    Science.gov (United States)

    Peyret, Nicolas; Dion, Jean-Luc; Chevallier, Gael

    2016-10-01

    This paper deals with the use of piezoelectric patches for nonlinear dynamic identification. The patches are glued on the structure to identify amplitude-dependent damping and natural frequency; their positions are defined in order to perform the excitation concentrated on the first bending mode. Their locations on the structure allow to perform "stop sines" tests, as, unlike electrodynamic shakers, piezos are embedded on structures and do not modify the studied structure after the excitation signal is switched off. Although, despite the piezo and the stop-sine, the signal is still modulated by other frequency components or polluted by random signals, a post processing with the extended Kalman Filter allows a very good determination of the modal damping and the natural frequency, especially when they depends on the free vibration amplitude.

  16. Odometry and laser scanner fusion based on a discrete extended Kalman Filter for robotic platooning guidance.

    Science.gov (United States)

    Espinosa, Felipe; Santos, Carlos; Marrón-Romera, Marta; Pizarro, Daniel; Valdés, Fernando; Dongil, Javier

    2011-01-01

    This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a) an odometric system and (b) a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.

  17. Application of Extended Kalman Filter to the Modeling of Electric Arc Furnace for Power Quality Issues

    Institute of Scientific and Technical Information of China (English)

    JIN Zhi-jian; WANG Feng-hua; ZHU Zi-shu

    2007-01-01

    Electric arc furnaces (EAFs) represent one of the most disturbing loads in the subtransmission or transmission electric power systems. Therefore, it is necessary to build a practical model to descript the behavior of EAF in the simulation of power system for power quality issues. This paper deals with the modeling of EAF based on the combination of extended Kalman filter to identify the parameter of arc current and the power balance equation to obtain the dynamic, multi-valued u-i characteristics of EAF load. The whole EAF systems are simulated by means of power system blockset in Matlab to validate the proposed EAF model. This model can also be used to assess the impact of the new plant or highly varying nonlinear loads that exhibit chaos in power systems.

  18. Odometry and Laser Scanner Fusion Based on a Discrete Extended Kalman Filter for Robotic Platooning Guidance

    Directory of Open Access Journals (Sweden)

    Fernando Valdés

    2011-08-01

    Full Text Available This paper describes a relative localization system used to achieve the navigation of a convoy of robotic units in indoor environments. This positioning system is carried out fusing two sensorial sources: (a an odometric system and (b a laser scanner together with artificial landmarks located on top of the units. The laser source allows one to compensate the cumulative error inherent to dead-reckoning; whereas the odometry source provides less pose uncertainty in short trajectories. A discrete Extended Kalman Filter, customized for this application, is used in order to accomplish this aim under real time constraints. Different experimental results with a convoy of Pioneer P3-DX units tracking non-linear trajectories are shown. The paper shows that a simple setup based on low cost laser range systems and robot built-in odometry sensors is able to give a high degree of robustness and accuracy to the relative localization problem of convoy units for indoor applications.

  19. Extended Kalman filtering for joint mitigation of phase and amplitude noise in coherent QAM systems.

    Science.gov (United States)

    Pakala, Lalitha; Schmauss, Bernhard

    2016-03-21

    We numerically investigate our proposed carrier phase and amplitude noise estimation (CPANE) algorithm using extend Kalman filter (EKF) for joint mitigation of linear and non-linear phase noise as well as amplitude noise on 4, 16 and 64 polarization multiplexed (PM) quadrature amplitude modulation (QAM) 224 Gb/s systems. The results are compared to decision directed (DD) carrier phase estimation (CPE), DD phase locked loop (PLL) and universal CPE (U-CPE) algorithms. Besides eliminating the necessity of phase unwrapping function, EKF-CPANE shows improved performance for both back-to-back (BTB) and transmission scenarios compared to the aforementioned algorithms. We further propose a weighted innovation approach (WIA) of the EKF-CPANE which gives an improvement of 0.3 dB in the Q-factor, compared to the original algorithm.

  20. Nonlinear cochlear mechanics.

    Science.gov (United States)

    Zweig, George

    2016-05-01

    An earlier paper characterizing the linear mechanical response of the organ of Corti [J. Acoust. Soc. Am. 138, 1102-1121 (2015)] is extended to the nonlinear domain. Assuming the existence of nonlinear oscillators nonlocally coupled through the pressure they help create, the oscillator equations are derived and examined when the stimuli are modulated tones and clicks. The nonlinearities are constrained by the requirements of oscillator stability and the invariance of zero crossings in the click response to changes in click amplitude. The nonlinear oscillator equations for tones are solved in terms of the fluid pressure that drives them, and its time derivative, presumably a proxy for forces created by outer hair cells. The pressure equation is reduced to quadrature, the integrand depending on the oscillators' responses. The resulting nonlocally coupled nonlinear equations for the pressure, and oscillator amplitudes and phases, are solved numerically in terms of the fluid pressure at the stapes. Methods for determining the nonlinear damping directly from measurements are described. Once the oscillators have been characterized from their tone and click responses, the mechanical response of the cochlea to natural sounds may be computed numerically. Signal processing inspired by cochlear mechanics opens up a new area of nonlocal nonlinear time-frequency analysis.

  1. An extended nonlinear state predictor for a class of nonlinear time delay systems

    Institute of Scientific and Technical Information of China (English)

    WANG Dong; ZHOU Donghua; JIN Yihui

    2004-01-01

    An extended nonlinear state predictor (ENSP) for a class of nonlinear systems with input time delay is proposed. Based on the extended Kalman filter (EKF), the ENSP first estimates the current states according to the previous estimations and estimation errors, next calculates the future state values via the system model, and then adjusts the values based on the current errors. After a state predictive algorithm for a class of linear systems is presented, it is extended to a class of nonlinear time delay systems and the detailed ENSP algorithm is further proposed. Finally, computer simulations with the nonlinear example are presented, which demonstrates that the proposed ENSP can effectively and accurately predict the future states for a class of nonlinear time-delay systems no matter whether the state variables change quickly or slowly.

  2. A Comparison of Ensemble Kalman Filters for Storm Surge Assimilation

    KAUST Repository

    Altaf, Muhammad

    2014-08-01

    This study evaluates and compares the performances of several variants of the popular ensembleKalman filter for the assimilation of storm surge data with the advanced circulation (ADCIRC) model. Using meteorological data from Hurricane Ike to force the ADCIRC model on a domain including the Gulf ofMexico coastline, the authors implement and compare the standard stochastic ensembleKalman filter (EnKF) and three deterministic square root EnKFs: the singular evolutive interpolated Kalman (SEIK) filter, the ensemble transform Kalman filter (ETKF), and the ensemble adjustment Kalman filter (EAKF). Covariance inflation and localization are implemented in all of these filters. The results from twin experiments suggest that the square root ensemble filters could lead to very comparable performances with appropriate tuning of inflation and localization, suggesting that practical implementation details are at least as important as the choice of the square root ensemble filter itself. These filters also perform reasonably well with a relatively small ensemble size, whereas the stochastic EnKF requires larger ensemble sizes to provide similar accuracy for forecasts of storm surge.

  3. ECG Denoising Using Marginalized Particle Extended Kalman Filter With an Automatic Particle Weighting Strategy.

    Science.gov (United States)

    Hesar, Hamed Danandeh; Mohebbi, Maryam

    2017-05-01

    In this paper, a model-based Bayesian filtering framework called the "marginalized particle-extended Kalman filter (MP-EKF) algorithm" is proposed for electrocardiogram (ECG) denoising. This algorithm does not have the extended Kalman filter (EKF) shortcoming in handling non-Gaussian nonstationary situations because of its nonlinear framework. In addition, it has less computational complexity compared with particle filter. This filter improves ECG denoising performance by implementing marginalized particle filter framework while reducing its computational complexity using EKF framework. An automatic particle weighting strategy is also proposed here that controls the reliance of our framework to the acquired measurements. We evaluated the proposed filter on several normal ECGs selected from MIT-BIH normal sinus rhythm database. To do so, artificial white Gaussian and colored noises as well as nonstationary real muscle artifact (MA) noise over a range of low SNRs from 10 to -5 dB were added to these normal ECG segments. The benchmark methods were the EKF and extended Kalman smoother (EKS) algorithms which are the first model-based Bayesian algorithms introduced in the field of ECG denoising. From SNR viewpoint, the experiments showed that in the presence of Gaussian white noise, the proposed framework outperforms the EKF and EKS algorithms in lower input SNRs where the measurements and state model are not reliable. Owing to its nonlinear framework and particle weighting strategy, the proposed algorithm attained better results at all input SNRs in non-Gaussian nonstationary situations (such as presence of pink noise, brown noise, and real MA). In addition, the impact of the proposed filtering method on the distortion of diagnostic features of the ECG was investigated and compared with EKF/EKS methods using an ECG diagnostic distortion measure called the "Multi-Scale Entropy Based Weighted Distortion Measure" or MSEWPRD. The results revealed that our proposed

  4. Structural System Identification with Extended Kalman Filter and Orthogonal Decomposition of Excitation

    Directory of Open Access Journals (Sweden)

    Y. Ding

    2014-01-01

    Full Text Available Both the structural parameter and external excitation have coupling influence on structural response. A new system identification method in time domain is proposed to simultaneously evaluate structural parameter and external excitation. The method can be used for linear and hysteresis nonlinear structural condition assessment based on incomplete structural responses. In this method, the structural excitation is decomposed by orthogonal approximation. With this approximation, the strongly time-variant excitation identification is transformed to gentle time-variant, even constant parameters identification. Then the extended Kalman filter is applied to simultaneously identify state vector including the structural parameters and excitation orthogonal parameters in state space based on incomplete measurements. The proposed method is validated numerically with the simulation of three-story linear and nonlinear structures subject to external force. The external force on the top floor and the structural parameters are simultaneously identified with the proposed system identification method. Results from both simulations indicate that the proposed method is capable of identifing the dynamic load and structural parameters fairly accurately with contaminated incomplete measurement for both of the linear and nonlinear structural systems.

  5. Covariance matching based adaptive unscented Kalman filter for direct filtering in INS/GNSS integration

    Science.gov (United States)

    Meng, Yang; Gao, Shesheng; Zhong, Yongmin; Hu, Gaoge; Subic, Aleksandar

    2016-03-01

    The use of the direct filtering approach for INS/GNSS integrated navigation introduces nonlinearity into the system state equation. As the unscented Kalman filter (UKF) is a promising method for nonlinear problems, an obvious solution is to incorporate the UKF concept in the direct filtering approach to address the nonlinearity involved in INS/GNSS integrated navigation. However, the performance of the standard UKF is dependent on the accurate statistical characterizations of system noise. If the noise distributions of inertial instruments and GNSS receivers are not appropriately described, the standard UKF will produce deteriorated or even divergent navigation solutions. This paper presents an adaptive UKF with noise statistic estimator to overcome the limitation of the standard UKF. According to the covariance matching technique, the innovation and residual sequences are used to determine the covariance matrices of the process and measurement noises. The proposed algorithm can estimate and adjust the system noise statistics online, and thus enhance the adaptive capability of the standard UKF. Simulation and experimental results demonstrate that the performance of the proposed algorithm is significantly superior to that of the standard UKF and adaptive-robust UKF under the condition without accurate knowledge on system noise, leading to improved navigation precision.

  6. Nonlinear programming analysis and methods

    CERN Document Server

    Avriel, Mordecai

    2003-01-01

    Comprehensive and complete, this overview provides a single-volume treatment of key algorithms and theories. The author provides clear explanations of all theoretical aspects, with rigorous proof of most results. The two-part treatment begins with the derivation of optimality conditions and discussions of convex programming, duality, generalized convexity, and analysis of selected nonlinear programs. The second part concerns techniques for numerical solutions and unconstrained optimization methods, and it presents commonly used algorithms for constrained nonlinear optimization problems. This g

  7. Switching Kalman filter for failure prognostic

    Science.gov (United States)

    Lim, Chi Keong Reuben; Mba, David

    2015-02-01

    The use of condition monitoring (CM) data to predict remaining useful life have been growing with increasing use of health and usage monitoring systems on aircraft. There are many data-driven methodologies available for the prediction and popular ones include artificial intelligence and statistical based approach. The drawback of such approaches is that they require a lot of failure data for training which can be scarce in practice. In lieu of this, methods using state-space and regression-based models that extract information from the data history itself have been explored. However, such methods have their own limitations as they utilize a single time-invariant model which does not represent changing degradation path well. This causes most degradation modeling studies to focus only on segments of their CM data that behaves close to the assumed model. In this paper, a state-space based method; the Switching Kalman Filter (SKF), is adopted for model estimation and life prediction. The SKF approach however, uses multiple models from which the most probable model is inferred from the CM data using Bayesian estimation before it is applied for prediction. At the same time, the inference of the degradation model itself can provide maintainers with more information for their planning. This SKF approach is demonstrated with a case study on gearbox bearings that were found defective from the Republic of Singapore Air Force AH64D helicopter. The use of in-service CM data allows the approach to be applied in a practical scenario and results showed that the developed SKF approach is a promising tool to support maintenance decision-making.

  8. Development of Real-Time Error Ellipses as an Indicator of Kalman Filter Performance.

    Science.gov (United States)

    1984-03-01

    S q often than 3 to 5 seconds. However, before the HP-86 can e considered feasible for real-time Kalman filtr procssinz, more investigaz ion i: needi...Subtitle) S. TYPE OF REPORT & PERIOD COVERED Development of Real-Time Error Master’s Thesis; Ellipses as an Indicator of Kalman March 1984 Filter...SUPP.LEETARY NOTES 19. KEY WORDS (Cmntine on reveo ole, It ndeeaey md Identil by block number) Error Ellipsoids; Kalman Filter; Extended Kalman Filter

  9. Gyrification from constrained cortical expansion

    CERN Document Server

    Tallinen, Tuomas; Biggins, John S; Mahadevan, L

    2015-01-01

    The exterior of the mammalian brain - the cerebral cortex - has a conserved layered structure whose thickness varies little across species. However, selection pressures over evolutionary time scales have led to cortices that have a large surface area to volume ratio in some organisms, with the result that the brain is strongly convoluted into sulci and gyri. Here we show that the gyrification can arise as a nonlinear consequence of a simple mechanical instability driven by tangential expansion of the gray matter constrained by the white matter. A physical mimic of the process using a layered swelling gel captures the essence of the mechanism, and numerical simulations of the brain treated as a soft solid lead to the formation of cusped sulci and smooth gyri similar to those in the brain. The resulting gyrification patterns are a function of relative cortical expansion and relative thickness (compared with brain size), and are consistent with observations of a wide range of brains, ranging from smooth to highl...

  10. Sharp spatially constrained inversion

    DEFF Research Database (Denmark)

    Vignoli, Giulio G.; Fiandaca, Gianluca G.; Christiansen, Anders Vest C A.V.C.;

    2013-01-01

    We present sharp reconstruction of multi-layer models using a spatially constrained inversion with minimum gradient support regularization. In particular, its application to airborne electromagnetic data is discussed. Airborne surveys produce extremely large datasets, traditionally inverted...... by using smoothly varying 1D models. Smoothness is a result of the regularization constraints applied to address the inversion ill-posedness. The standard Occam-type regularized multi-layer inversion produces results where boundaries between layers are smeared. The sharp regularization overcomes......, the results are compatible with the data and, at the same time, favor sharp transitions. The focusing strategy can also be used to constrain the 1D solutions laterally, guaranteeing that lateral sharp transitions are retrieved without losing resolution. By means of real and synthetic datasets, sharp...

  11. Recursive three-dimensional model reconstruction based on Kalman filtering.

    Science.gov (United States)

    Yu, Ying Kin; Wong, Kin Hong; Chang, Michael Ming Yuen

    2005-06-01

    A recursive two-step method to recover structure and motion from image sequences based on Kalman filtering is described in this paper. The algorithm consists of two major steps. The first step is an extended Kalman filter (EKF) for the estimation of the object's pose. The second step is a set of EKFs, one for each model point, for the refinement of the positions of the model features in the three-dimensional (3-D) space. These two steps alternate from frame to frame. The initial model converges to the final structure as the image sequence is scanned sequentially. The performance of the algorithm is demonstrated with both synthetic data and real-world objects. Analytical and empirical comparisons are made among our approach, the interleaved bundle adjustment method, and the Kalman filtering-based recursive algorithm by Azarbayejani and Pentland. Our approach outperformed the other two algorithms in terms of computation speed without loss in the quality of model reconstruction.

  12. Teknik Rektifikasi Citra dan Tapis Kalman Dalam Mengestimasi Kecepatan Kendaraan

    Directory of Open Access Journals (Sweden)

    Rika Favoria Gusa

    2014-03-01

    Full Text Available Estimating is a challenging task when the image sequence from a camera are directly processed because there is perspective projection that causes length and area ratio of objects in the image are not preserved. In this paper, it was used image rectification technique and Kalman filter algorithm to overcome the problems encountered in order to obtain accurate vehicle velocity estimation. Rectified images as result of image rectification were processed, then Kalman filter algorithm was executed based on the processing result of the rectified images. The result of the tests showed that geometric distortion on the objects in the image sequence could be corrected well by using image rectification. Kalman filter algorithm was also good enough in estimating vehicle velocity. The error of average velocity estimation was ±3 km/hour.

  13. Dual extended Kalman filtering in recurrent neural networks(1).

    Science.gov (United States)

    Leung, Chi-Sing; Chan, Lai-Wan

    2003-03-01

    In the classical deterministic Elman model, the estimation of parameters must be very accurate. Otherwise, the system performance is very poor. To improve the system performance, we can use a Kalman filtering algorithm to guide the operation of a trained recurrent neural network (RNN). In this case, during training, we need to estimate the state of hidden layer, as well as the weights of the RNN. This paper discusses how to use the dual extended Kalman filtering (DEKF) for this dual estimation and how to use our proposing DEKF for removing some unimportant weights from a trained RNN. In our approach, one Kalman algorithm is used for estimating the state of the hidden layer, and one recursive least square (RLS) algorithm is used for estimating the weights. After training, we use the error covariance matrix of the RLS algorithm to remove unimportant weights. Simulation showed that our approach is an effective joint-learning-pruning method for RNNs under the online operation.

  14. A numerical storm surge forecast model with Kalman filter

    Institute of Scientific and Technical Information of China (English)

    Yu Fujiang; Zhang Zhanhai; Lin Yihua

    2001-01-01

    Kalman filter data assimilation technique is incorporated into a standard two-dimensional linear storm surge model. Imperfect model equation and imperfect meteorological forcimg are accounted for by adding noise terms to the momentum equations. The deterministic model output is corrected by using the available tidal gauge station data. The stationary Kalman filter algorithm for the model domain is calculated by an iterative procedure using specified information on the inaccuracies in the momentum equations and specified error information for the observations. An application to a real storm surge that occurred in the summer of 1956 in the East China Sea is performed by means of this data assimilation technique. The result shows that Kalman filter is useful for storm surge forecast and hindcast.

  15. Kalman Filter Based Tracking in an Video Surveillance System

    Directory of Open Access Journals (Sweden)

    SULIMAN, C.

    2010-05-01

    Full Text Available In this paper we have developed a Matlab/Simulink based model for monitoring a contact in a video surveillance sequence. For the segmentation process and corect identification of a contact in a surveillance video, we have used the Horn-Schunk optical flow algorithm. The position and the behavior of the correctly detected contact were monitored with the help of the traditional Kalman filter. After that we have compared the results obtained from the optical flow method with the ones obtained from the Kalman filter, and we show the correct functionality of the Kalman filter based tracking. The tests were performed using video data taken with the help of a fix camera. The tested algorithm has shown promising results.

  16. The extended Kalman filter for forecast of algal bloom dynamics.

    Science.gov (United States)

    Mao, J Q; Lee, Joseph H W; Choi, K W

    2009-09-01

    A deterministic ecosystem model is combined with an extended Kalman filter (EKF) to produce short term forecasts of algal bloom and dissolved oxygen dynamics in a marine fish culture zone (FCZ). The weakly flushed FCZ is modelled as a well-mixed system; the tidal exchange with the outer bay is lumped into a flushing rate that is numerically determined from a three-dimensional hydrodynamic model. The ecosystem model incorporates phytoplankton growth kinetics, nutrient uptake, photosynthetic production, nutrient sources from organic fish farm loads, and nutrient exchange with a sediment bed layer. High frequency field observations of chlorophyll, dissolved oxygen (DO) and hydro-meteorological parameters (sampling interval Deltat=1 day, 2h, 1h, respectively) and bi-weekly nutrient data are assimilated into the model to produce the combined state estimate accounting for the uncertainties. In addition to the water quality state variables, the EKF incorporates dynamic estimation of algal growth rate and settling velocity. The effectiveness of the EKF data assimilation is studied for a wide range of sampling intervals and prediction lead-times. The chlorophyll and dissolved oxygen estimated by the EKF are compared with field data of seven algal bloom events observed at Lamma Island, Hong Kong. The results show that the EKF estimate well captures the nonlinear error evolution in time; the chlorophyll level can be satisfactorily predicted by the filtered model estimate with a mean absolute error of around 1-2 microg/L. Predictions with 1-2 day lead-time are highly correlated with the observations (r=0.7-0.9); the correlation stays at a high level for a lead-time of 3 days (r=0.6-0.7). Estimated algal growth and settling rates are in accord with field observations; the more frequent DO data can compensate for less frequent algal biomass measurements. The present study is the first time the EKF is successfully applied to forecast an entire algal bloom cycle, suggesting the

  17. Parallelized unscented Kalman filters for carrier recovery in coherent optical communication.

    Science.gov (United States)

    Jignesh, Jokhakar; Corcoran, Bill; Lowery, Arthur

    2016-07-15

    We show that unscented Kalman filters can be used to mitigate local oscillator phase noise and to compensate carrier frequency offset in coherent single-carrier optical communication systems. A parallel processing architecture implementing the unscented Kalman filter is proposed, improving upon a previous parallelized linear Kalman filter (LKF) implementation.

  18. A new extended H∞ filter for discrete nonlinear systems

    Institute of Scientific and Technical Information of China (English)

    张永安; 周荻; 段广仁

    2004-01-01

    Nonlinear estimation problem is investigated in this paper. By extension of a linear H∞ estimation with corrector-predictor form to nonlinear cases, a new extended H∞ filter is proposed for time-varying discretetime nonlinear systems. The new filter has a simple observer structure based on a local linearization model, and can be viewed as a general case of the extended Kalman filter (EKF). An example demonstrates that the new filter with a suitable-chosen prescribed H∞ bound performs better than the EKF.

  19. Estimation of Kalman filter gain from output residuals

    Science.gov (United States)

    Juang, Jer-Nan; Chen, Chung-Wen; Phan, Minh

    1993-01-01

    This paper presents a procedure to estimate the Kalman filter gain from input-output measurement data with a given system model. The system model can be a finite element model or an experimental model from any identification method. The procedure consists of three basic steps. First, the stochastic portion related to the residuals of the response is computed. Second, the coefficients of a linear difference model for the stochastic portion are estimated by a least-squares solution that minimizes the filter residual. Third, the Kalman filter gain is computed from these model coefficients. Experimental results are presented to illustrate the usefulness of the developed procedure.

  20. A THEORETICAL STUDY ON SIMPLIFIED KALMAN FILTER IN DATA ASSIMILATION

    Institute of Scientific and Technical Information of China (English)

    Ma Zhai-pu; Huang Da-ji; Zhang Ben-zhao

    2003-01-01

    In this paper, we put forward a new method to reduce the calculation amount of the gain matrix of Kalman filter in data assimilation. We rewrite the vector describing the total state variables with two vectors whose dimensions are small and thus obtain the main parts and the trivial parts of the state variables. On the basis of the rewrittten formula, we not only develop a reduced Kalman filter scheme, but also obtain the transition equations about truncation errors, with which the validity of the main parts acting for the total state variables can be evaluated quantitatively. The error transition equations thus offer an indirect testimony to the rationality of the main parts.

  1. Evaluation of a Cubature Kalman Filtering-Based Phase Unwrapping Method for Differential Interferograms with High Noise in Coal Mining Areas

    Directory of Open Access Journals (Sweden)

    Wanli Liu

    2015-07-01

    Full Text Available Differential interferometric synthetic aperture radar has been shown to be effective for monitoring subsidence in coal mining areas. Phase unwrapping can have a dramatic influence on the monitoring result. In this paper, a filtering-based phase unwrapping algorithm in combination with path-following is introduced to unwrap differential interferograms with high noise in mining areas. It can perform simultaneous noise filtering and phase unwrapping so that the pre-filtering steps can be omitted, thus usually retaining more details and improving the detectable deformation. For the method, the nonlinear measurement model of phase unwrapping is processed using a simplified Cubature Kalman filtering, which is an effective and efficient tool used in many nonlinear fields. Three case studies are designed to evaluate the performance of the method. In Case 1, two tests are designed to evaluate the performance of the method under different factors including the number of multi-looks and path-guiding indexes. The result demonstrates that the unwrapped results are sensitive to the number of multi-looks and that the Fisher Distance is the most suitable path-guiding index for our study. Two case studies are then designed to evaluate the feasibility of the proposed phase unwrapping method based on Cubature Kalman filtering. The results indicate that, compared with the popular Minimum Cost Flow method, the Cubature Kalman filtering-based phase unwrapping can achieve promising results without pre-filtering and is an appropriate method for coal mining areas with high noise.

  2. Evaluation of a Cubature Kalman Filtering-Based Phase Unwrapping Method for Differential Interferograms with High Noise in Coal Mining Areas.

    Science.gov (United States)

    Liu, Wanli; Bian, Zhengfu; Liu, Zhenguo; Zhang, Qiuzhao

    2015-07-06

    Differential interferometric synthetic aperture radar has been shown to be effective for monitoring subsidence in coal mining areas. Phase unwrapping can have a dramatic influence on the monitoring result. In this paper, a filtering-based phase unwrapping algorithm in combination with path-following is introduced to unwrap differential interferograms with high noise in mining areas. It can perform simultaneous noise filtering and phase unwrapping so that the pre-filtering steps can be omitted, thus usually retaining more details and improving the detectable deformation. For the method, the nonlinear measurement model of phase unwrapping is processed using a simplified Cubature Kalman filtering, which is an effective and efficient tool used in many nonlinear fields. Three case studies are designed to evaluate the performance of the method. In Case 1, two tests are designed to evaluate the performance of the method under different factors including the number of multi-looks and path-guiding indexes. The result demonstrates that the unwrapped results are sensitive to the number of multi-looks and that the Fisher Distance is the most suitable path-guiding index for our study. Two case studies are then designed to evaluate the feasibility of the proposed phase unwrapping method based on Cubature Kalman filtering. The results indicate that, compared with the popular Minimum Cost Flow method, the Cubature Kalman filtering-based phase unwrapping can achieve promising results without pre-filtering and is an appropriate method for coal mining areas with high noise.

  3. Preconditioning an ensemble Kalman filter for groundwater flow using environmental-tracer observations

    Science.gov (United States)

    Erdal, Daniel; Cirpka, Olaf A.

    2017-02-01

    Groundwater resources management requires operational, regional-scale groundwater models accounting for dominant spatial variability of aquifer properties and spatiotemporal variability of groundwater recharge. We test the Ensemble Kalman filter (EnKF) to estimate transient hydraulic heads and groundwater recharge, as well as the hydraulic conductivity and specific-yield distributions of a virtual phreatic aquifer. To speed up computation time, we use a coarsened spatial grid in the filter simulations, and reconstruct head measurements at observation points by a local model in the vicinity of the piezometer as part of the observation operator. We show that the EnKF can adequately estimate both the mean and spatial patterns of hydraulic conductivity when assimilating daily values of hydraulic heads from a highly variable initial sample. The filter can also estimate temporally variable recharge to a satisfactory level, as long as the ensemble size is large enough. Constraining the parameters on concentrations of groundwater-age tracers (here: tritium) and transient hydraulic-head observations cannot reasonably be done by the EnKF because the concentrations depend on the recharge history over longer times while the head observations have much shorter temporal support. We thus use a different method, the Kalman Ensemble Generator (KEG), to precondition the initial ensemble of the EnKF on the groundwater-age tracer data and time-averaged hydraulic-head values. The preconditioned initial ensemble exhibits a smaller spread as well as improved means and spatial patterns. The preconditioning improves the EnKF particularly for smaller ensemble sizes, allowing operational data assimilation with reduced computational effort. In a validation scenario of delineating groundwater protection zones, the preconditioned filter performs clearly better than the filter using the original initial ensemble.

  4. Lectures on Constrained Systems

    CERN Document Server

    Date, Ghanashyam

    2010-01-01

    These lecture notes were prepared as a basic introduction to the theory of constrained systems which is how the fundamental forces of nature appear in their Hamiltonian formulation. Only a working knowledge of Lagrangian and Hamiltonian formulation of mechanics is assumed. These notes are based on the set of eight lectures given at the {\\em Refresher Course for College Teachers} held at IMSc during May-June, 2005. These are submitted to the arxiv for an easy access to a wider body of students.

  5. Constraining entropic cosmology

    Energy Technology Data Exchange (ETDEWEB)

    Koivisto, Tomi S. [Institute for Theoretical Physics and the Spinoza Institute, Utrecht University, Leuvenlaan 4, Postbus 80.195, 3508 TD Utrecht (Netherlands); Mota, David F. [Institute of Theoretical Astrophysics, University of Oslo, 0315 Oslo (Norway); Zumalacárregui, Miguel, E-mail: t.s.koivisto@uu.nl, E-mail: d.f.mota@astro.uio.no, E-mail: miguelzuma@icc.ub.edu [Institute of Cosmos Sciences (ICC-IEEC), University of Barcelona, Marti i Franques 1, E-08028 Barcelona (Spain)

    2011-02-01

    It has been recently proposed that the interpretation of gravity as an emergent, entropic phenomenon might have nontrivial implications to cosmology. Here several such approaches are investigated and the underlying assumptions that must be made in order to constrain them by the BBN, SneIa, BAO and CMB data are clarified. Present models of inflation or dark energy are ruled out by the data. Constraints are derived on phenomenological parameterizations of modified Friedmann equations and some features of entropic scenarios regarding the growth of perturbations, the no-go theorem for entropic inflation and the possible violation of the Bekenstein bound for the entropy of the Universe are discussed and clarified.

  6. Symmetrically Constrained Compositions

    CERN Document Server

    Beck, Matthias; Lee, Sunyoung; Savage, Carla D

    2009-01-01

    Given integers $a_1, a_2, ..., a_n$, with $a_1 + a_2 + ... + a_n \\geq 1$, a symmetrically constrained composition $\\lambda_1 + lambda_2 + ... + lambda_n = M$ of $M$ into $n$ nonnegative parts is one that satisfies each of the the $n!$ constraints ${\\sum_{i=1}^n a_i \\lambda_{\\pi(i)} \\geq 0 : \\pi \\in S_n}$. We show how to compute the generating function of these compositions, combining methods from partition theory, permutation statistics, and lattice-point enumeration.

  7. Kalman filtering and Standard Quantum Limits for broadband measurement

    CERN Document Server

    Mabuchi, H

    1998-01-01

    I utilize the Caves-Milburn model for continuous position measurements to formulate a broadband version of the Standard Quantum Limit (SQL) for monitoring the position of a free mass, and illustrate the use of Kalman filtering to recover the SQL for estimating a weak classical force that acts on a quantum-mechanical test particle under continuous observation.

  8. Data assimilation in integrated hydrological modeling using ensemble Kalman filtering

    DEFF Research Database (Denmark)

    Rasmussen, Jørn; Madsen, H.; Jensen, Karsten Høgh

    2015-01-01

    Groundwater head and stream discharge is assimilated using the ensemble transform Kalman filter in an integrated hydrological model with the aim of studying the relationship between the filter performance and the ensemble size. In an attempt to reduce the required number of ensemble members...

  9. Forecasting with the Standardized Self-Perturbed Kalman Filter

    DEFF Research Database (Denmark)

    Grassi, Stefano; Nonejad, Nima; Santucci de Magistris, Paolo

    compared to other on-line, classical and Bayesian methods. The standardized self-perturbed Kalman filter is adopted to forecast the equity premium on the S&P500 index under several model specifications, and to investigate to what extent and how realized variance can be exploited to predict excess returns....

  10. The Kalman-Yakubovich-Popov Lemma in a behavioural framework

    NARCIS (Netherlands)

    van der Geest, R; Trentelman, H

    1997-01-01

    The classical Kalman-Yakubovich-Popov Lemma provides a link between dissipativity of a system in state-space form and the solution to a linear matrix inequality. In this paper we derive the KYP Lemma for linear systems described by higher-order differential equations. The result is an LMI in terms o

  11. Adaptive robust Kalman filtering for precise point positioning

    Science.gov (United States)

    Guo, Fei; Zhang, Xiaohong

    2014-10-01

    The optimality of precise point postioning (PPP) solution using a Kalman filter is closely connected to the quality of the a priori information about the process noise and the updated mesurement noise, which are sometimes difficult to obtain. Also, the estimation enviroment in the case of dynamic or kinematic applications is not always fixed but is subject to change. To overcome these problems, an adaptive robust Kalman filtering algorithm, the main feature of which introduces an equivalent covariance matrix to resist the unexpected outliers and an adaptive factor to balance the contribution of observational information and predicted information from the system dynamic model, is applied for PPP processing. The basic models of PPP including the observation model, dynamic model and stochastic model are provided first. Then an adaptive robust Kalmam filter is developed for PPP. Compared with the conventional robust estimator, only the observation with largest standardized residual will be operated by the IGG III function in each iteration to avoid reducing the contribution of the normal observations or even filter divergence. Finally, tests carried out in both static and kinematic modes have confirmed that the adaptive robust Kalman filter outperforms the classic Kalman filter by turning either the equivalent variance matrix or the adaptive factor or both of them. This becomes evident when analyzing the positioning errors in flight tests at the turns due to the target maneuvering and unknown process/measurement noises.

  12. Data assimilation in integrated hydrological modeling using ensemble Kalman filtering

    DEFF Research Database (Denmark)

    Rasmussen, Jørn; Madsen, H.; Jensen, Karsten Høgh;

    2015-01-01

    Groundwater head and stream discharge is assimilated using the ensemble transform Kalman filter in an integrated hydrological model with the aim of studying the relationship between the filter performance and the ensemble size. In an attempt to reduce the required number of ensemble members...

  13. Kalman filter techniques for accelerated Cartesian dynamic cardiac imaging.

    Science.gov (United States)

    Feng, Xue; Salerno, Michael; Kramer, Christopher M; Meyer, Craig H

    2013-05-01

    In dynamic MRI, spatial and temporal parallel imaging can be exploited to reduce scan time. Real-time reconstruction enables immediate visualization during the scan. Commonly used view-sharing techniques suffer from limited temporal resolution, and many of the more advanced reconstruction methods are either retrospective, time-consuming, or both. A Kalman filter model capable of real-time reconstruction can be used to increase the spatial and temporal resolution in dynamic MRI reconstruction. The original study describing the use of the Kalman filter in dynamic MRI was limited to non-Cartesian trajectories because of a limitation intrinsic to the dynamic model used in that study. Here the limitation is overcome, and the model is applied to the more commonly used Cartesian trajectory with fast reconstruction. Furthermore, a combination of the Kalman filter model with Cartesian parallel imaging is presented to further increase the spatial and temporal resolution and signal-to-noise ratio. Simulations and experiments were conducted to demonstrate that the Kalman filter model can increase the temporal resolution of the image series compared with view-sharing techniques and decrease the spatial aliasing compared with TGRAPPA. The method requires relatively little computation, and thus is suitable for real-time reconstruction.

  14. Reducing Support Vector Machine Classification Error by Implementing Kalman Filter

    Directory of Open Access Journals (Sweden)

    Muhsin Hassan

    2013-08-01

    Full Text Available The aim of this is to demonstrate the capability of Kalman Filter to reduce Support Vector Machine classification errors in classifying pipeline corrosion depth. In pipeline defect classification, it is important to increase the accuracy of the SVM classification so that one can avoid misclassification which can lead to greater problems in monitoring pipeline defect and prediction of pipeline leakage. In this paper, it is found that noisy data can greatly affect the performance of SVM. Hence, Kalman Filter + SVM hybrid technique has been proposed as a solution to reduce SVM classification errors. The datasets has been added with Additive White Gaussian Noise in several stages to study the effect of noise on SVM classification accuracy. Three techniques have been studied in this experiment, namely SVM, hybrid of Discrete Wavelet Transform + SVM and hybrid of Kalman Filter + SVM. Experiment results have been compared to find the most promising techniques among them. MATLAB simulations show Kalman Filter and Support Vector Machine combination in a single system produced higher accuracy compared to the other two techniques.

  15. A Novel Robust Interval Kalman Filter Algorithm for GPS/INS Integrated Navigation

    Directory of Open Access Journals (Sweden)

    Chen Jiang

    2016-01-01

    Full Text Available Kalman filter is widely applied in data fusion of dynamic systems under the assumption that the system and measurement noises are Gaussian distributed. In literature, the interval Kalman filter was proposed aiming at controlling the influences of the system model uncertainties. The robust Kalman filter has also been proposed to control the effects of outliers. In this paper, a new interval Kalman filter algorithm is proposed by integrating the robust estimation and the interval Kalman filter in which the system noise and the observation noise terms are considered simultaneously. The noise data reduction and the robust estimation methods are both introduced into the proposed interval Kalman filter algorithm. The new algorithm is equal to the standard Kalman filter in terms of computation, but superior for managing with outliers. The advantage of the proposed algorithm is demonstrated experimentally using the integrated navigation of Global Positioning System (GPS and the Inertial Navigation System (INS.

  16. Space Constrained Dynamic Covering

    CERN Document Server

    Antonellis, Ioannis; Dughmi, Shaddin

    2009-01-01

    In this paper, we identify a fundamental algorithmic problem that we term space-constrained dynamic covering (SCDC), arising in many modern-day web applications, including ad-serving and online recommendation systems in eBay and Netflix. Roughly speaking, SCDC applies two restrictions to the well-studied Max-Coverage problem: Given an integer k, X={1,2,...,n} and I={S_1, ..., S_m}, S_i a subset of X, find a subset J of I, such that |J| <= k and the union of S in J is as large as possible. The two restrictions applied by SCDC are: (1) Dynamic: At query-time, we are given a query Q, a subset of X, and our goal is to find J such that the intersection of Q with the union of S in J is as large as possible; (2) Space-constrained: We don't have enough space to store (and process) the entire input; specifically, we have o(mn), sometimes even as little as O((m+n)polylog(mn)) space. The goal of SCDC is to maintain a small data structure so as to answer most dynamic queries with high accuracy. We present algorithms a...

  17. Cosmicflows Constrained Local UniversE Simulations

    CERN Document Server

    Sorce, Jenny G; Yepes, Gustavo; Hoffman, Yehuda; Courtois, Helene M; Steinmetz, Matthias; Tully, R Brent; Pomarede, Daniel; Carlesi, Edoardo

    2015-01-01

    This paper combines observational datasets and cosmological simulations to generate realistic numerical replicas of the nearby Universe. These latter are excellent laboratories for studies of the non-linear process of structure formation in our neighborhood. With measurements of radial peculiar velocities in the Local Universe (cosmicflows-2) and a newly developed technique, we produce Constrained Local UniversE Simulations (CLUES). To assess the quality of these constrained simulations, we compare them with random simulations as well as with local observations. The cosmic variance, defined as the mean one-sigma scatter of cell-to-cell comparison between two fields, is significantly smaller for the constrained simulations than for the random simulations. Within the inner part of the box where most of the constraints are, the scatter is smaller by a factor 2 to 3 on a 5 Mpc/h scale with respect to that found for random simulations. This one-sigma scatter obtained when comparing the simulated and the observatio...

  18. Ensemble Kalman filtering in presence of inequality constraints

    Science.gov (United States)

    van Leeuwen, P. J.

    2009-04-01

    Kalman filtering is presence of constraints is an active area of research. Based on the Gaussian assumption for the probability-density functions, it looks hard to bring in extra constraints in the formalism. On the other hand, in geophysical systems we often encounter constraints related to e.g. the underlying physics or chemistry, which are violated by the Gaussian assumption. For instance, concentrations are always non-negative, model layers have non-negative thickness, and sea-ice concentration is between 0 and 1. Several methods to bring inequality constraints into the Kalman-filter formalism have been proposed. One of them is probability density function (pdf) truncation, in which the Gaussian mass from the non-allowed part of the variables is just equally distributed over the pdf where the variables are alolwed, as proposed by Shimada et al. 1998. However, a problem with this method is that the probability that e.g. the sea-ice concentration is zero, is zero! The new method proposed here does not have this drawback. It assumes that the probability-density function is a truncated Gaussian, but the truncated mass is not distributed equally over all allowed values of the variables, but put into a delta distribution at the truncation point. This delta distribution can easily be handled with in Bayes theorem, leading to posterior probability density functions that are also truncated Gaussians with delta distributions at the truncation location. In this way a much better representation of the system is obtained, while still keeping most of the benefits of the Kalman-filter formalism. In the full Kalman filter the formalism is prohibitively expensive in large-scale systems, but efficient implementation is possible in ensemble variants of the kalman filter. Applications to low-dimensional systems and large-scale systems will be discussed.

  19. 基于容积卡尔曼滤波的中段弹头跟踪方法%Tracking for midcourse warhead based on cubature Kalman filtering

    Institute of Scientific and Technical Information of China (English)

    熊智敏; 王党卫; 马晓岩

    2016-01-01

    针对弹道导弹中段跟踪精度要求高问题,采用了针对弹头非线性特征运动的滤波算法进行精确跟踪,提出了基于容积卡尔曼滤波的精确目标跟踪方法。仿真结果验证了所提方法的有效性。仿真结果表明,与被广泛应用的去偏转换卡尔曼滤波方法、扩展卡尔曼滤波方法、不敏卡尔曼滤波方法相比,所提方法具有更高的跟踪精度,在处理空间目标复杂非线性运动问题的过程中具有更好的稳定性。%Aiming at the problem of the high requirements for the precision of midcourse tracking of ballistic missile, this paper carrys on a accurate tracking by employing the filtering algorithm of targeting the warhead’s non-linear eigen-motion, and comes up with the method for accurate target tracking based on cubature Kalman filtering (CKF). Simulation results prove this proposed method to be of effectiveness. It is shown that this proposed method is of higher tracking accuracy and better stability in the process of processing the complex non-linear motion of space target, compared with those used widely, including the debiased converted measurement Kalman filtering, the extended Kalman filtering and the unscented Kalman filter.

  20. The Reduced Rank of Ensemble Kalman Filter to Estimate the Temperature of Non Isothermal Continue Stirred Tank Reactor

    OpenAIRE

    Erna Apriliani; Dieky Adzkiya; Arief Baihaqi

    2011-01-01

    Kalman filter is an algorithm to estimate the state variable of dynamical stochastic system. The square root ensemble Kalman filter is an modification of Kalman filter. The square root ensemble Kalman filter is proposed to keep the computational stability and reduce the computational time. In this paper we study the efficiency of the reduced rank ensemble Kalman filter. We apply this algorithm to the non isothermal continue stirred tank reactor problem. We decompose the covariance of the ense...

  1. The effect of sampling noise in ensemble-based Kalman filters

    Science.gov (United States)

    Sacher, William

    Ensemble-based Kalman filters have drawn a lot of attention in the atmospheric and ocean scientific community because of their potential to be used as a data assimilation tool for numerical prediction in a strongly nonlinear context at an affordable cost. However, many studies have noted practical problems in their implementation. Indeed, being Monte-Carlo methods, the useful parameters are estimated from a sample of limited size of independent realizations of the process. As a consequence, the unavoidable sampling noise impacts the quality of the analysis. An idealized perfect model context is considered in which the analytical expression for the analysis accuracy and reliability as a function of the ensemble size is established, from a second-order moment perspective. It is proved that one can analytically explain the general tendency for ensemble-based Kalman filters to underestimate, on average, the analysis variance and therefore the likeliness for these filters to diverge. Performance of alternative methods, designed to reduce or eliminate sampling error effects, such as the double ensemble Kalman filter or covariance inflation are also analytically explored. For methods using perturbed observations, it is shown that the covariance inflation is the easiest and least expensive method to obtain the most accurate and reliable analysis. These analytical results agreed well with means over a large number of experiments using a perfect, low-resolution, and quasi-geostrophic barotropic model, in a series of observation system simulation experiments of single analysis cycles as well as in a simulated forecast system. In one-analysis cycle experiments with rank histograms, non-perturbed-observation methods show a lack of reliability regardless of the number of members. For small ensemble sizes, sampling error effects are dominant but have a smaller impact than in the perturbed observation method, making non-perturbed-observation method filters much less subject to

  2. RumEnKF: running very large Ensembles Kalman Filter by forgetting what you just did.

    Science.gov (United States)

    Hut, R.; Amisigo, B. A.; Steele-Dunne, S. C.; Van De Giesen, N.

    2014-12-01

    The eWaterCycle project works towards running an operational hyper-resolution hydrological global model, assimilating incoming satellite data in real time, and making 14 day predictions of floods and droughts. A problem encountered in the eWatercycle project is that the computer memory needed to store a single ensemble member becomes so large that storing enough ensembles to run the EnKF is impossible, even when using mitigating strategies such as covariance inflation or localization. Reduction of Used Memory Ensemble Kalman Filtering (RumEnKF) is introduced as a variant on the Ensemble Kalman Filter (EnKF). RumEnKF differs from EnKF in that it does not store the entire ensemble, but rather only saves the first two moments of the ensemble distribution. In this way, the number of ensemble members that can be calculated is less dependent on available memory, and mainly on available computing power (CPU). RumEnKF is developed to make optimal use of current generation super computer architecture, where the number of available floating point operations (flops) increases more rapidly than the available memory and where inter-node communication can quickly become a bottleneck. In this presentation, two simple models are used (auto-regressive and Lorenz) to show that RumEnKF performs similar to the EnKF. Furthermore, it is also shown that increasing the ensemble size has a similar impact on the estimation error from the two algorithms In this preliminary results, RumEnKF reduces the used memory compared to the EnKF when the number of ensemble members is greater than half the number of state variables. Future research will focus on strategies to further reduce the memory burden of running non-linear data assimilation on very large models.

  3. Tracking magma volume recovery at okmok volcano using GPS and an unscented kalman filter

    Science.gov (United States)

    Fournier, T.; Freymueller, Jeffrey T.; Cervelli, Peter

    2009-01-01

    Changes beneath a volcano can be observed through position changes in a GPS network, but distinguishing the source of site motion is not always straightforward. The records of continuous GPS sites provide a favorable data set for tracking magma migration. Dense campaign observations usually provide a better spatial picture of the overall deformation field, at the expense of an episodic temporal record. Combining these observations provides the best of both worlds. A Kalman filter provides a means for integrating discrete and continuous measurements and for interpreting subtle signals. The unscented Kalman filter (UKF) is a nonlinear method for time-dependent observations. We demonstrate the application of this technique to deformation data by applying it to GPS data collected at Okmok volcano. Seven years of GPS observations at Okmok are analyzed using a Mogi source model and the UKF. The deformation source at Okmok is relatively stable at 2.5 km depth below sea level, located beneath the center of the caldera, which means the surface deformation is caused by changes in the strength of the source. During the 7 years of GPS observations more than 0.5 m of uplift has occurred, a majority of that during the time period January 2003 to July 2004. The total volume recovery at Okmok since the last eruption in 1997 is ??60-80%. The UKF allows us to solve simultaneously for the time-dependence of the source strength and for the location without a priori information about the source. ?? 2009 by the American Geophysical Union.

  4. An approximate Kalman filter for ocean data assimilation: An example with an idealized Gulf Stream model

    Science.gov (United States)

    Fukumori, Ichiro; Malanotte-Rizzoli, Paola

    1995-01-01

    A practical method of data assimilation for use with large, nonlinear, ocean general circulation models is explored. A Kalman filter based on approximation of the state error covariance matrix is presented, employing a reduction of the effective model dimension, the error's asymptotic steady state limit, and a time-invariant linearization of the dynamic model for the error integration. The approximations lead to dramatic computational savings in applying estimation theory to large complex systems. We examine the utility of the approximate filter in assimilating different measurement types using a twin experiment of an idealized Gulf Stream. A nonlinear primitive equation model of an unstable east-west jet is studied with a state dimension exceeding 170,000 elements. Assimilation of various pseudomeasurements are examined, including velocity, density, and volume transport at localized arrays and realistic distributions of satellite altimetry and acoustic tomography observations. Results are compared in terms of their effects on the accuracies of the estimation. The approximate filter is shown to outperform an empirical nudging scheme used in a previous study. The examples demonstrate that useful approximate estimation errors can be computed in a practical manner for general circulation models.

  5. Pose and Motion Estimation Using Dual Quaternion-Based Extended Kalman Filtering

    Energy Technology Data Exchange (ETDEWEB)

    Goddard, J.S.; Abidi, M.A.

    1998-06-01

    A solution to the remote three-dimensional (3-D) measurement problem is presented for a dynamic system given a sequence of two-dimensional (2-D) intensity images of a moving object. The 3-D transformation is modeled as a nonlinear stochastic system with the state estimate providing the six-degree-of-freedom motion and position values as well as structure. The stochastic model uses the iterated extended Kalman filter (IEKF) as a nonlinear estimator and a screw representation of the 3-D transformation based on dual quaternions. Dual quaternions, whose elements are dual numbers, provide a means to represent both rotation and translation in a unified notation. Linear object features, represented as dual vectors, are transformed using the dual quaternion transformation and are then projected to linear features in the image plane. The method has been implemented and tested with both simulated and actual experimental data. Simulation results are provided, along with comparisons to a point-based IEKF method using rotation and translation, to show the relative advantages of this method. Experimental results from testing using a camera mounted on the end effector of a robot arm are also given.

  6. The role of model dynamics in ensemble Kalman filter performance for chaotic systems

    Science.gov (United States)

    Ng, G.-H.C.; McLaughlin, D.; Entekhabi, D.; Ahanin, A.

    2011-01-01

    The ensemble Kalman filter (EnKF) is susceptible to losing track of observations, or 'diverging', when applied to large chaotic systems such as atmospheric and ocean models. Past studies have demonstrated the adverse impact of sampling error during the filter's update step. We examine how system dynamics affect EnKF performance, and whether the absence of certain dynamic features in the ensemble may lead to divergence. The EnKF is applied to a simple chaotic model, and ensembles are checked against singular vectors of the tangent linear model, corresponding to short-term growth and Lyapunov vectors, corresponding to long-term growth. Results show that the ensemble strongly aligns itself with the subspace spanned by unstable Lyapunov vectors. Furthermore, the filter avoids divergence only if the full linearized long-term unstable subspace is spanned. However, short-term dynamics also become important as non-linearity in the system increases. Non-linear movement prevents errors in the long-term stable subspace from decaying indefinitely. If these errors then undergo linear intermittent growth, a small ensemble may fail to properly represent all important modes, causing filter divergence. A combination of long and short-term growth dynamics are thus critical to EnKF performance. These findings can help in developing practical robust filters based on model dynamics. ?? 2011 The Authors Tellus A ?? 2011 John Wiley & Sons A/S.

  7. Towards the assimilation of tree-ring-width records using ensemble Kalman filtering techniques

    Science.gov (United States)

    Acevedo, Walter; Reich, Sebastian; Cubasch, Ulrich

    2016-03-01

    This paper investigates the applicability of the Vaganov-Shashkin-Lite (VSL) forward model for tree-ring-width chronologies as observation operator within a proxy data assimilation (DA) setting. Based on the principle of limiting factors, VSL combines temperature and moisture time series in a nonlinear fashion to obtain simulated TRW chronologies. When used as observation operator, this modelling approach implies three compounding, challenging features: (1) time averaging, (2) "switching recording" of 2 variables and (3) bounded response windows leading to "thresholded response". We generate pseudo-TRW observations from a chaotic 2-scale dynamical system, used as a cartoon of the atmosphere-land system, and attempt to assimilate them via ensemble Kalman filtering techniques. Results within our simplified setting reveal that VSL's nonlinearities may lead to considerable loss of assimilation skill, as compared to the utilization of a time-averaged (TA) linear observation operator. In order to understand this undesired effect, we embed VSL's formulation into the framework of fuzzy logic (FL) theory, which thereby exposes multiple representations of the principle of limiting factors. DA experiments employing three alternative growth rate functions disclose a strong link between the lack of smoothness of the growth rate function and the loss of optimality in the estimate of the TA state. Accordingly, VSL's performance as observation operator can be enhanced by resorting to smoother FL representations of the principle of limiting factors. This finding fosters new interpretations of tree-ring-growth limitation processes.

  8. A separated bias identification and state estimation algorithm for nonlinear systems

    Science.gov (United States)

    Caglayan, A. K.; Lancraft, R. E.

    1983-01-01

    A computational algorithm for the identification of biases in discrete-time, nonlinear, stochastic systems is derived by extending the separate bias estimation results for linear systems to the extended Kalman filter formulation. The merits of the approach are illustrated by identifying instrument biases using a terminal configured vehicle simulation.

  9. Application of Constrained Linear MPC to a Spray Dryer

    DEFF Research Database (Denmark)

    Petersen, Lars Norbert; Poulsen, Niels Kjølstad; Niemann, Hans Henrik;

    2014-01-01

    In this paper we develop a linear model predictive control (MPC) algorithm for control of a two stage spray dryer. The states are estimated by a stationary Kalman filter. A non-linear first-principle engineering model is developed to simulate the spray drying process. The model is validated against...... experimental data and able to precisely predict the temperatures, the air humidity and the residual moisture in the dryer. The MPC controls these variables to the target and reject disturbances. Spray drying is a cost-effective method to evaporate water from liquid foods and produces a free flowing powder....... The main challenge of spray drying is to meet the residual moisture specification and prevent powder from sticking to the chamber walls. By simulation we compare the performance of the MPC against the conventional PID control strategy. During an industrially recorded disturbance scenario, the MPC increases...

  10. Density constrained TDHF

    CERN Document Server

    Oberacker, V E

    2015-01-01

    In this manuscript we provide an outline of the numerical methods used in implementing the density constrained time-dependent Hartree-Fock (DC-TDHF) method and provide a few examples of its application to nuclear fusion. In this approach, dynamic microscopic calculations are carried out on a three-dimensional lattice and there are no adjustable parameters, the only input is the Skyrme effective NN interaction. After a review of the DC-TDHF theory and the numerical methods, we present results for heavy-ion potentials $V(R)$, coordinate-dependent mass parameters $M(R)$, and precompound excitation energies $E^{*}(R)$ for a variety of heavy-ion reactions. Using fusion barrier penetrabilities, we calculate total fusion cross sections $\\sigma(E_\\mathrm{c.m.})$ for reactions between both stable and neutron-rich nuclei. We also determine capture cross sections for hot fusion reactions leading to the formation of superheavy elements.

  11. Constrained space camera assembly

    Science.gov (United States)

    Heckendorn, Frank M.; Anderson, Erin K.; Robinson, Casandra W.; Haynes, Harriet B.

    1999-01-01

    A constrained space camera assembly which is intended to be lowered through a hole into a tank, a borehole or another cavity. The assembly includes a generally cylindrical chamber comprising a head and a body and a wiring-carrying conduit extending from the chamber. Means are included in the chamber for rotating the body about the head without breaking an airtight seal formed therebetween. The assembly may be pressurized and accompanied with a pressure sensing means for sensing if a breach has occurred in the assembly. In one embodiment, two cameras, separated from their respective lenses, are installed on a mounting apparatus disposed in the chamber. The mounting apparatus includes means allowing both longitudinal and lateral movement of the cameras. Moving the cameras longitudinally focuses the cameras, and moving the cameras laterally away from one another effectively converges the cameras so that close objects can be viewed. The assembly further includes means for moving lenses of different magnification forward of the cameras.

  12. Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions

    Directory of Open Access Journals (Sweden)

    Fabio Dovis

    2012-11-01

    Full Text Available The paper investigates approaches for loosely coupled GPS/INS integration. Error performance is calculated using a reference trajectory. A performance improvement can be obtained by exploiting additional map information (for example, a road boundary. A constrained solution has been developed and its performance compared with an unconstrained one. The case of GPS outages is also investigated showing how a Kalman filter that operates on the last received GPS position and velocity measurements provides a performance benefit. Results are obtained by means of simulation studies and real data.

  13. Nonlinear time series theory, methods and applications with R examples

    CERN Document Server

    Douc, Randal; Stoffer, David

    2014-01-01

    FOUNDATIONSLinear ModelsStochastic Processes The Covariance World Linear Processes The Multivariate Cases Numerical Examples ExercisesLinear Gaussian State Space Models Model Basics Filtering, Smoothing, and Forecasting Maximum Likelihood Estimation Smoothing Splines and the Kalman Smoother Asymptotic Distribution of the MLE Missing Data Modifications Structural Component Models State-Space Models with Correlated Errors Exercises Beyond Linear ModelsNonlinear Non-Gaussian Data Volterra Series Expansion Cumulants and Higher-Order Spectra Bilinear Models Conditionally Heteroscedastic Models Thre

  14. Robust Stabilization of a Class of passive Nonlinear Systems

    Science.gov (United States)

    Joshi, Suresh M.; Kelkar, Atul G.

    1996-01-01

    The problem of feedback stabilization is considered for a class of nonlinear, finite dimensional, time invariant passive systems that are affine in control. Using extensions of the Kalman-Yakubovch lemma, it is shown that such systems can be stabilized by a class of finite demensional, linear, time-invariant controllers which are strictly positive real in the weak or marginal sense. The stability holds regardless of model uncertainties, and is therefore, robust.

  15. String Theory Origin of Constrained Multiplets

    CERN Document Server

    Kallosh, Renata; Wrase, Timm

    2016-01-01

    We study the non-linearly realized spontaneously broken supersymmetry of the (anti-)D3-brane action in type IIB string theory. The worldvolume fields are one vector $A_\\mu$, three complex scalars $\\phi^i$ and four 4d fermions $\\lambda^0$, $\\lambda^i$. These transform, in addition to the more familiar N=4 linear supersymmetry, also under 16 spontaneously broken, non-linearly realized supersymmetries. We argue that the worldvolume fields can be packaged into the following constrained 4d non-linear N=1 multiplets: four chiral multiplets $S$, $Y^i$ that satisfy $S^2=SY^i=0$ and contain the worldvolume fermions $\\lambda^0$ and $\\lambda^i$; and four chiral multiplets $W_\\alpha$, $H^i$ that satisfy $S W_\\alpha=0$ and $S \\bar D_{\\dot \\alpha} \\bar H^{\\bar \\imath}=0$ and contain the vector $A_\\mu$ and the scalars $\\phi^i$. We also discuss how placing an anti-D3-brane on top of intersecting O7-planes can lead to an orthogonal multiplet $\\Phi$ that satisfies $S(\\Phi-\\bar \\Phi)=0$, which is particularly interesting for in...

  16. Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

    Directory of Open Access Journals (Sweden)

    José Luis Torres-Moreno

    2016-03-01

    Full Text Available This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs. Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF and the unscented Kalman filter (UKF, in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics.

  17. Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

    Science.gov (United States)

    Torres-Moreno, José Luis; Blanco-Claraco, José Luis; Giménez-Fernández, Antonio; Sanjurjo, Emilio; Naya, Miguel Ángel

    2016-01-01

    This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics. PMID:26959027

  18. Ensemble Kalman filtering without the intrinsic need for inflation

    Directory of Open Access Journals (Sweden)

    M. Bocquet

    2011-10-01

    Full Text Available The main intrinsic source of error in the ensemble Kalman filter (EnKF is sampling error. External sources of error, such as model error or deviations from Gaussianity, depend on the dynamical properties of the model. Sampling errors can lead to instability of the filter which, as a consequence, often requires inflation and localization. The goal of this article is to derive an ensemble Kalman filter which is less sensitive to sampling errors. A prior probability density function conditional on the forecast ensemble is derived using Bayesian principles. Even though this prior is built upon the assumption that the ensemble is Gaussian-distributed, it is different from the Gaussian probability density function defined by the empirical mean and the empirical error covariance matrix of the ensemble, which is implicitly used in traditional EnKFs. This new prior generates a new class of ensemble Kalman filters, called finite-size ensemble Kalman filter (EnKF-N. One deterministic variant, the finite-size ensemble transform Kalman filter (ETKF-N, is derived. It is tested on the Lorenz '63 and Lorenz '95 models. In this context, ETKF-N is shown to be stable without inflation for ensemble size greater than the model unstable subspace dimension, at the same numerical cost as the ensemble transform Kalman filter (ETKF. One variant of ETKF-N seems to systematically outperform the ETKF with optimally tuned inflation. However it is shown that ETKF-N does not account for all sampling errors, and necessitates localization like any EnKF, whenever the ensemble size is too small. In order to explore the need for inflation in this small ensemble size regime, a local version of the new class of filters is defined (LETKF-N and tested on the Lorenz '95 toy model. Whatever the size of the ensemble, the filter is stable. Its performance without inflation is slightly inferior to that of LETKF with optimally tuned inflation for small interval between updates, and

  19. Bayesian Methods for Nonlinear System Identification of Civil Structures

    Directory of Open Access Journals (Sweden)

    Conte Joel P.

    2015-01-01

    Full Text Available This paper presents a new framework for the identification of mechanics-based nonlinear finite element (FE models of civil structures using Bayesian methods. In this approach, recursive Bayesian estimation methods are utilized to update an advanced nonlinear FE model of the structure using the input-output dynamic data recorded during an earthquake event. Capable of capturing the complex damage mechanisms and failure modes of the structural system, the updated nonlinear FE model can be used to evaluate the state of health of the structure after a damage-inducing event. To update the unknown time-invariant parameters of the FE model, three alternative stochastic filtering methods are used: the extended Kalman filter (EKF, the unscented Kalman filter (UKF, and the iterated extended Kalman filter (IEKF. For those estimation methods that require the computation of structural FE response sensitivities with respect to the unknown modeling parameters (EKF and IEKF, the accurate and computationally efficient direct differentiation method (DDM is used. A three-dimensional five-story two-by-one bay reinforced concrete (RC frame is used to illustrate the performance of the framework and compare the performance of the different filters in terms of convergence, accuracy, and robustness. Excellent estimation results are obtained with the UKF, EKF, and IEKF. Because of the analytical linearization used in the EKF and IEKF, abrupt and large jumps in the estimates of the modeling parameters are observed when using these filters. The UKF slightly outperforms the EKF and IEKF.

  20. 一种新型自适应联邦滤波方法在战术导弹导航系统中的应用%Model noise Kalman filter algorithm for electro-optical tracking

    Institute of Scientific and Technical Information of China (English)

    刘英; 田蔚风; 赵健康; 鲍其莲; 朱士青

    2012-01-01

    In order to reduce the sensitivity of the filtering performance to the model noise in the target state space model, the method of updating the system noise covariance and measurement noise variance was proposed. By combining it with nonlinear Kalman filter, an adaptive nonlinear Kalman filter was constituted which is suitable for applying in electro-optical target tracking. Meanwhile it was applied in nonlinear measurement electro-optical tracking system, and compared with those of extended Kalman filter and anscented Kalman filter. The Matlab simulation results show that this method can adjust measurement noise covariance and system noise covariance in real time, and can effectively avoid the problem of filter performance degradation caused by the inaccurately statistical properties of the measurement noise and system noise, and the performance by the model noise Kalman filter significantly outperforms those of the extended Kalman filter and the unscented Kalman filter.%为满足复杂的环境下战术导弹导航系统的高可靠性导航的要求,对战术导弹的多传感器组合导航进行了研究.提出了一种基于新型自适应联邦卡尔曼滤波的巡航导弹SINS/GPS/EC组合导航方法,根据联邦滤波的分散滤波结构,分别建立了各滤波器的模型,进行了仿真试验验证.仿真结果表明,采用新型自适应联邦卡尔曼滤波算法的导航精度比采用集中卡尔曼滤波算法提高幅度不大,略高一些,但从自适应联邦卡尔曼滤波器的容错性比集中卡尔曼滤波器好得多,便于各导航子系统的故障检查和隔离.本文设计自适应联邦SINS/GPS/EC滤波器的在子系统较多的组合导航设计中具有高可靠性、低计算量、低成本和小体积等优势,具有工程应用价值.

  1. An estimation model of time-varying origin-destination flows in expressway corridors based on unscented Kalman filter

    Institute of Scientific and Technical Information of China (English)

    LI JunWei; LIN BoLiang; SUN ZhiHui; GENG XueFei

    2009-01-01

    On the basis of measurable time series of mainline and ramp flows from traffic counts and the assumption of travel time distributions, this research presents a dynamic system model and its on-line estimation algorithm for recursive estimation of Ume-varying origin-destination (OD) matrices in expressway corridors. The proposed model employs a macro-traffic flow model to estimate travel times of OD flows and uses parameters of the traffic model as state variables, which are added to the constrained function of the system. To improve the model efficiency, we revise the travel time distribution based on the feature of normal distribution. The research employs a newly developed filtering technique, called unscented Kalman filter. The proposed model is evaluated with simulation experiments.Numerical analyses with respect to the sensitivity of the selection of initial parameters on the estimation results indicate that the proposed model is sufficiently reasonable and stable for real-world applications.

  2. An estimation model of time-varying origin-destination flows in expressway corridors based on unscented Kalman filter

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    On the basis of measurable time series of mainline and ramp flows from traffic counts and the assumption of travel time distributions, this research presents a dynamic system model and its on-line estimation algorithm for recursive estimation of time-varying origin-destination (OD) matrices in expressway corridors. The proposed model employs a macro-traffic flow model to estimate travel times of OD flows and uses parameters of the traffic model as state variables, which are added to the constrained function of the system. To improve the model efficiency, we revise the travel time distribution based on the feature of normal distribution. The research employs a newly developed filtering technique, called unscented Kalman filter. The proposed model is evaluated with simulation experiments. Numerical analyses with respect to the sensitivity of the selection of initial parameters on the estimation results indicate that the proposed model is sufficiently reasonable and stable for real-world appli-cations.

  3. Nonlinear System Identification Using Neural Networks Trained with Natural Gradient Descent

    Directory of Open Access Journals (Sweden)

    Ibnkahla Mohamed

    2003-01-01

    Full Text Available We use natural gradient (NG learning neural networks (NNs for modeling and identifying nonlinear systems with memory. The nonlinear system is comprised of a discrete-time linear filter followed by a zero-memory nonlinearity . The NN model is composed of a linear adaptive filter followed by a two-layer memoryless nonlinear NN. A Kalman filter-based technique and a search-and-converge method have been employed for the NG algorithm. It is shown that the NG descent learning significantly outperforms the ordinary gradient descent and the Levenberg-Marquardt (LM procedure in terms of convergence speed and mean squared error (MSE performance.

  4. Autonomous Navigation with Constrained Consistency for C-Ranger

    Directory of Open Access Journals (Sweden)

    Shujing Zhang

    2014-06-01

    Full Text Available Autonomous underwater vehicles (AUVs have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM, are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past decades. In this paper, a consistency constrained extended Kalman filter (EKF SLAM algorithm, applying the idea of local consistency, is proposed and applied to the autonomous navigation of the C-Ranger AUV, which is developed as our experimental platform. The concept of local consistency (LC is introduced after an explicit theoretical derivation of the EKF-SLAM system. Then, we present a locally consistency- constrained EKF-SLAM design, LC-EKF, in which the landmark estimates used for linearization are fixed at the beginning of each local time period, rather than evaluated at the latest landmark estimates. Finally, our proposed LC- EKF algorithm is experimentally verified, both in simulations and sea trials. The experimental results show that the LC-EKF performs well with regard to consistency, accuracy and computational efficiency.

  5. Autonomous Navigation with Constrained Consistency for C-Ranger

    Directory of Open Access Journals (Sweden)

    Shujing Zhang

    2014-06-01

    Full Text Available Autonomous underwater vehicles (AUVs have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM, are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past decades. In this paper, a consistency constrained extended Kalman filter (EKF SLAM algorithm, applying the idea of local consistency, is proposed and applied to the autonomous navigation of the C-Ranger AUV, which is developed as our experimental platform. The concept of local consistency (LC is introduced after an explicit theoretical derivation of the EKF-SLAM system. Then, we present a locally consistency-constrained EKF-SLAM design, LC-EKF, in which the landmark estimates used for linearization are fixed at the beginning of each local time period, rather than evaluated at the latest landmark estimates. Finally, our proposed LC-EKF algorithm is experimentally verified, both in simulations and sea trials. The experimental results show that the LC-EKF performs well with regard to consistency, accuracy and computational efficiency.

  6. Early Cosmology Constrained

    CERN Document Server

    Verde, Licia; Pigozzo, Cassio; Heavens, Alan F; Jimenez, Raul

    2016-01-01

    We investigate our knowledge of early universe cosmology by exploring how much additional energy density can be placed in different components beyond those in the $\\Lambda$CDM model. To do this we use a method to separate early- and late-universe information enclosed in observational data, thus markedly reducing the model-dependency of the conclusions. We find that the 95\\% credibility regions for extra energy components of the early universe at recombination are: non-accelerating additional fluid density parameter $\\Omega_{\\rm MR} < 0.006$ and extra radiation parameterised as extra effective neutrino species $2.3 < N_{\\rm eff} < 3.2$ when imposing flatness. Our constraints thus show that even when analyzing the data in this largely model-independent way, the possibility of hiding extra energy components beyond $\\Lambda$CDM in the early universe is seriously constrained by current observations. We also find that the standard ruler, the sound horizon at radiation drag, can be well determined in a way ...

  7. Robust tracking with spatio-velocity snakes: Kalman filtering approach

    Energy Technology Data Exchange (ETDEWEB)

    Peterfreund, N.

    1998-12-31

    Using results from robust Kalman filtering, we present a new Kalman filter-based snake model for tracking of nonrigid objects in combined spatio-velocity space. The proposed model is the stochastic version of the velocity snake, an active contour model for combined tracking of position and velocity of nonrigid boundaries. The proposed model uses image gradient and optical flow measurements along the contour as system measurements. An optical-flow based measurement error is used to detect and reject image measurements which correspond to image clutter or to other objects. The method was applied to object tracking of both rigid and nonrigid objects, resulting in good tracking results and robustness to image clutter, occlusions and numerical noise. 19 refs., 3 figs.

  8. Robust tracking with spatio-velocity snakes: Kalman filtering approach

    Energy Technology Data Exchange (ETDEWEB)

    Peterfreund, N.

    1997-06-01

    Using results from robust Kalman filtering, the author presents a new Kalman filter-based snake model for tracking of nonrigid objects in combined spatio-velocity space. The proposed model is the stochastic version of the velocity snake, an active contour model for combined tracking of position and velocity of nonrigid boundaries. The proposed model uses image gradient and optical flow measurements along the contour as system measurements. An optical-flow based measurement error is used to detect and reject image measurements which correspond to image clutter or to other objects. The method was applied to object tracking of both rigid and nonrigid objects, resulting in good tracking results and robustness to image clutter, occlusions and numerical noise.

  9. Causal MRI reconstruction via Kalman prediction and compressed sensing correction.

    Science.gov (United States)

    Majumdar, Angshul

    2017-02-04

    This technical note addresses the problem of causal online reconstruction of dynamic MRI, i.e. given the reconstructed frames till the previous time instant, we reconstruct the frame at the current instant. Our work follows a prediction-correction framework. Given the previous frames, the current frame is predicted based on a Kalman estimate. The difference between the estimate and the current frame is then corrected based on the k-space samples of the current frame; this reconstruction assumes that the difference is sparse. The method is compared against prior Kalman filtering based techniques and Compressed Sensing based techniques. Experimental results show that the proposed method is more accurate than these and considerably faster.

  10. Deconvolution Kalman filtering for force measurements of revolving wings

    Science.gov (United States)

    Vester, R.; Percin, M.; van Oudheusden, B.

    2016-09-01

    The applicability of a deconvolution Kalman filtering approach is assessed for the force measurements on a flat plate undergoing a revolving motion, as an alternative procedure to correct for test setup vibrations. The system identification process required for the correct implementation of the deconvolution Kalman filter is explained in detail. It is found that in the presence of a relatively complex forcing history, the DK filter is better suited to filter out structural test rig vibrations than conventional filtering techniques that are based on, for example, low-pass or moving-average filtering. The improvement is especially found in the characterization of the generated force peaks. Consequently, more reliable force data is obtained, which is vital to validate semi-empirical estimation models, but is also relevant to correlate identified flow phenomena to the force production.

  11. A Multiresolution Ensemble Kalman Filter using Wavelet Decomposition

    CERN Document Server

    Hickmann, Kyle S

    2015-01-01

    We present a method of using classical wavelet based multiresolution analysis to separate scales in model and observations during data assimilation with the ensemble Kalman filter. In many applications, the underlying physics of a phenomena involve the interaction of features at multiple scales. Blending of observational and model error across scales can result in large forecast inaccuracies since large errors at one scale are interpreted as inexact data at all scales. Our method uses a transformation of the observation operator in order to separate the information from different scales of the observations. This naturally induces a transformation of the observation covariance and we put forward several algorithms to efficiently compute the transformed covariance. Another advantage of our multiresolution ensemble Kalman filter is that scales can be weighted independently to adjust each scale's effect on the forecast. To demonstrate feasibility we present applications to a one dimensional Kuramoto-Sivashinsky (...

  12. Spacecraft Dynamics Should be Considered in Kalman Filter Attitude Estimation

    Science.gov (United States)

    Yang, Yaguang; Zhou, Zhiqiang

    2016-01-01

    Kalman filter based spacecraft attitude estimation has been used in some high-profile missions and has been widely discussed in literature. While some models in spacecraft attitude estimation include spacecraft dynamics, most do not. To our best knowledge, there is no comparison on which model is a better choice. In this paper, we discuss the reasons why spacecraft dynamics should be considered in the Kalman filter based spacecraft attitude estimation problem. We also propose a reduced quaternion spacecraft dynamics model which admits additive noise. Geometry of the reduced quaternion model and the additive noise are discussed. This treatment is more elegant in mathematics and easier in computation. We use some simulation example to verify our claims.

  13. Research on Kalman-filter based multisensor data fusion

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Multisensor data fusion has played a significant role in diverse areas ranging from local robot guidance to global military theatre defense etc.Various multisensor data fusion methods have been extensively investigated by researchers,of which Klaman filtering is one of the most important.Kalman filtering is the best-known recursive least mean-square algorithm to optimally estimate the unknown.states of a dynamic system,which has found widespread application in many areas.The scope of the work is restricted to investigate the various data fusion and track fusion techniques based on the Kalman Filter methods.then a new method of state fusion is proposed.Finally the simulation results demonstrate the effectiveness of the introduced method.

  14. Observation Quality Control with a Robust Ensemble Kalman Filter

    KAUST Repository

    Roh, Soojin

    2013-12-01

    Current ensemble-based Kalman filter (EnKF) algorithms are not robust to gross observation errors caused by technical or human errors during the data collection process. In this paper, the authors consider two types of gross observational errors, additive statistical outliers and innovation outliers, and introduce a method to make EnKF robust to gross observation errors. Using both a one-dimensional linear system of dynamics and a 40-variable Lorenz model, the performance of the proposed robust ensemble Kalman filter (REnKF) was tested and it was found that the new approach greatly improves the performance of the filter in the presence of gross observation errors and leads to only a modest loss of accuracy with clean, outlier-free, observations.

  15. Nonlinear optics

    CERN Document Server

    Bloembergen, Nicolaas

    1996-01-01

    Nicolaas Bloembergen, recipient of the Nobel Prize for Physics (1981), wrote Nonlinear Optics in 1964, when the field of nonlinear optics was only three years old. The available literature has since grown by at least three orders of magnitude.The vitality of Nonlinear Optics is evident from the still-growing number of scientists and engineers engaged in the study of new nonlinear phenomena and in the development of new nonlinear devices in the field of opto-electronics. This monograph should be helpful in providing a historical introduction and a general background of basic ideas both for expe

  16. Multiplicative Quaternion Extended Kalman Filtering for Nonspinning Guided Projectiles

    Science.gov (United States)

    2013-07-01

    micro- electromechanical system ( MEMS ) gyroscopes have been able to measure the spin-rates of fin- stabilized projectiles such as mortars, which...model, the statistics of the gyroscope and accelerometer noise are measureable, and can be easily incorporated into an extended Kalman filtering...tradeoff between affordability, durability, and performance. Automotive-grade MEMS components have been used in the harsh gun-launch environment for

  17. Unscented Kalman Filter for Autonomous Warship Attitude Determination

    Institute of Scientific and Technical Information of China (English)

    FU Jian-guo; WANG Xiao-tong; JIN Lian-gan; MA Ye

    2005-01-01

    To address a problem of autonomous attitude determination algorithm using gravitational field and geomagnetic field observation, a new recursive optimization autonomous attitude estimation algorithm is proposed. The algorithm is based on unscented Kalman filter(UKF), and can synchronously provide the attitude rate information. The simulated results show that the measurement precision of the method could be increased by 2 times compared to that of the common methods.

  18. Autonomous orbit determination via Kalman filtering of gravity gradients

    OpenAIRE

    Sun; Chen,De; Macabiau, Christophe; Han

    2016-01-01

    International audience; Spaceborne gravity gradients are proposed in this paper to provide autonomous orbit determination capabilities for near Earth satellites. The gravity gradients contain useful position information which can be extracted by matching the observations with a precise gravity model. The extended Kalman filter is investigated as the principal estimator. The stochastic model of orbital motion, the measurement equation and the model configuration are discussed for the filter de...

  19. The path prediction of cyclones with Kalman filters

    OpenAIRE

    Taskin, Dogan

    1990-01-01

    Approved for public release; distribution unlimited. The Kalman filter is used to provide estimates of the position and velocity of a storm based upon observation of the storm's longitude and latitude. Nonstationary noise is shown to degrade the performance of the filter and cause tracking divergence. Time varying values for the noise covariance matricies R and Q, and the addition of an external forcing function to the filter, effectively compensated for this tracking error. Results for th...

  20. Robust Optical User Motion Tracking Using a Kalman Filter

    OpenAIRE

    Dorfmüller-Ulhaas, Klaus

    2007-01-01

    Optical tracking has a great future in applications of virtual and augmented reality. It will assist to enhance the acceptance of virtual reality user interfaces, since optical tracking allows wireless interaction and precise tracking. Existing commercial motion capture systems are neither working reliably in real-time. Additionally, only few optical trackers can smooth and predict motion and include a motion estimator supplying similar results to the presented approach. A Kalman filter formu...

  1. Localization of Wheeled Mobile Robot Based on Extended Kalman Filtering

    Directory of Open Access Journals (Sweden)

    Li Guangxu

    2015-01-01

    Full Text Available A mobile robot localization method which combines relative positioning with absolute orientation is presented. The code salver and gyroscope are used for relative positioning, and the laser radar is used to detect absolute orientation. In this paper, we established environmental map, multi-sensor information fusion model, sensors and robot motion model. The Extended Kalman Filtering (EKF is adopted as multi-sensor data fusion technology to realize the precise localization of wheeled mobile robot.

  2. Improvements of Analog Neural Networks Based on Kalman Filter

    Directory of Open Access Journals (Sweden)

    Z. Raida

    2002-04-01

    Full Text Available In the paper, original improvements of recurrent analog neuralnetworks, which are based on Kalman filter, are presented. Theseimprovements eliminate some disadvantages of the classical Kalmanneural network and enable a real time processing of quickly changingsignals, which appear in adaptive antennas and similar applications.This goal is reached using such circuit elements, which increase theconvergence rate of the network and decrease the dependence ofconvergence rate on the ratio of eigenvalues of the correlation matrixof input signals.

  3. Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

    Institute of Scientific and Technical Information of China (English)

    XIAO Kun; FANG Shao-ji; PANG Yong-jie

    2007-01-01

    To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

  4. Kalman Filter Based Tracking in an Video Surveillance System

    OpenAIRE

    SULIMAN, C.; CRUCERU, C.; Moldoveanu, F.

    2010-01-01

    In this paper we have developed a Matlab/Simulink based model for monitoring a contact in a video surveillance sequence. For the segmentation process and corect identification of a contact in a surveillance video, we have used the Horn-Schunk optical flow algorithm. The position and the behavior of the correctly detected contact were monitored with the help of the traditional Kalman filter. After that we have compared the results obtained from the optical flow method with the ones obtaine...

  5. SUBSTANTIATION OF THE PUBLIC DEBT SUSTAINABILITY USING KALMAN FILTER

    Directory of Open Access Journals (Sweden)

    Bolos Marcel

    2011-12-01

    Full Text Available Global economic conditions have pushed many countries into the delicate situation of contracting foreign loans, leading overnight at alarming volumes of public debt. The need for control and relevant analysis for the sustainability of a country's public debt has led us to use the Kalman filter in predicting future values of the key indicators of public debt. The development of a mathematical model of analysis for public services and the budget deficit was necessary to objectively assess the level of the public debt sustainability.Knowing future values of the public debt or the future evolutions of the revenues for the operational budget, offers the posibility of a better handling of the operational expenditures and finally a better balance for the public budget deficit.Using the mathematical mechanism of Kalman filters implemented in Matlab programming language, we generated the estimated future values of the proposed model proposed and key indicators, the results confirming the fears of a low public debt sustainability for Romania.We predicted the future values for the debt service, the public external debt and the operational public revenues,expenditures and deficit, and compared them, to obtain an image of the future evolution and position of the sustainability of the public debt. The work in this paper is an innovative one for the public science sector, and the results obtained are promising for future researches. The values estimated by the Kalman filter are an orientation for the future public policies, and indicate a rather stable but negative evolution for the public debt service. The sustainability of the public debt depends on the decisions taken for the correction of the estimated values, in changing the negative evolution of the budgetary indicators into a positive one.Taking all this into consideration we will conclude that the mathematical mecanism of the Kalman filters offers valuable informations for Government and future

  6. Distance-constrained grid colouring

    Directory of Open Access Journals (Sweden)

    Aszalós László

    2016-06-01

    Full Text Available Distance-constrained colouring is a mathematical model of the frequency assignment problem. This colouring can be treated as an optimization problem so we can use the toolbar of the optimization to solve concrete problems. In this paper, we show performance of distance-constrained grid colouring for two methods which are good in map colouring.

  7. Statistical Process Control of a Kalman Filter Model

    Science.gov (United States)

    Gamse, Sonja; Nobakht-Ersi, Fereydoun; Sharifi, Mohammad A.

    2014-01-01

    For the evaluation of measurement data, different functional and stochastic models can be used. In the case of time series, a Kalman filtering (KF) algorithm can be implemented. In this case, a very well-known stochastic model, which includes statistical tests in the domain of measurements and in the system state domain, is used. Because the output results depend strongly on input model parameters and the normal distribution of residuals is not always fulfilled, it is very important to perform all possible tests on output results. In this contribution, we give a detailed description of the evaluation of the Kalman filter model. We describe indicators of inner confidence, such as controllability and observability, the determinant of state transition matrix and observing the properties of the a posteriori system state covariance matrix and the properties of the Kalman gain matrix. The statistical tests include the convergence of standard deviations of the system state components and normal distribution beside standard tests. Especially, computing controllability and observability matrices and controlling the normal distribution of residuals are not the standard procedures in the implementation of KF. Practical implementation is done on geodetic kinematic observations. PMID:25264959

  8. Statistical Process Control of a Kalman Filter Model

    Directory of Open Access Journals (Sweden)

    Sonja Gamse

    2014-09-01

    Full Text Available For the evaluation of measurement data, different functional and stochastic models can be used. In the case of time series, a Kalman filtering (KF algorithm can be implemented. In this case, a very well-known stochastic model, which includes statistical tests in the domain of measurements and in the system state domain, is used. Because the output results depend strongly on input model parameters and the normal distribution of residuals is not always fulfilled, it is very important to perform all possible tests on output results. In this contribution, we give a detailed description of the evaluation of the Kalman filter model. We describe indicators of inner confidence, such as controllability and observability, the determinant of state transition matrix and observing the properties of the a posteriori system state covariance matrix and the properties of the Kalman gain matrix. The statistical tests include the convergence of standard deviations of the system state components and normal distribution beside standard tests. Especially, computing controllability and observability matrices and controlling the normal distribution of residuals are not the standard procedures in the implementation of KF. Practical implementation is done on geodetic kinematic observations.

  9. Three-dimensional motion tracking by Kalman filtering

    Science.gov (United States)

    Gao, Jean; Kosaka, Akio; Kak, Avinash C.

    2000-10-01

    In this paper, a 3D semantic object motion tracking method based on Kalman filtering is proposed. First, we use a specially designed Color Image Segmentation Editor (CISE) to devise shapes that more accurately describe the object to be tracked. CISE is an integration of edge and region detection, which is based on edge-linking, split-and-merge and the energy minimization for active contour detection. An ROI is further segmented into single motion blobs by considering the constancy of the motion parameters in each blob. Over short time intervals, each blob can be tracked separately and, over longer times, the blobs can be allowed to fragment and coalesce into new blobs as motion evolves. The tracking of each blob is based on a Kalman filter derived from linearization of a constraint equation satisfied by the pinhole model of a camera. The Kalman filter allows the tracker to project the uncertainties associated with a blob center (or with the coordinates of any other features) into the next frame. This projected uncertainty region can then be searched rot eh pixels belonging to the blob. Future work includes investigation of the effects of illumination changes and simultaneous tracking of multiple targets.

  10. Relationship between Allan variances and Kalman Filter parameters

    Science.gov (United States)

    Vandierendonck, A. J.; Mcgraw, J. B.; Brown, R. G.

    1984-01-01

    A relationship was constructed between the Allan variance parameters (H sub z, H sub 1, H sub 0, H sub -1 and H sub -2) and a Kalman Filter model that would be used to estimate and predict clock phase, frequency and frequency drift. To start with the meaning of those Allan Variance parameters and how they are arrived at for a given frequency source is reviewed. Although a subset of these parameters is arrived at by measuring phase as a function of time rather than as a spectral density, they all represent phase noise spectral density coefficients, though not necessarily that of a rational spectral density. The phase noise spectral density is then transformed into a time domain covariance model which can then be used to derive the Kalman Filter model parameters. Simulation results of that covariance model are presented and compared to clock uncertainties predicted by Allan variance parameters. A two state Kalman Filter model is then derived and the significance of each state is explained.

  11. Multiple Fading Factors Kalman Filter for SINS Static Alignment Application

    Institute of Scientific and Technical Information of China (English)

    GAO Weixi; MIAO Lingjuan; NI Maolin

    2011-01-01

    To solve the problem that the standard Kalman filter cannot give the optimal solution when the system model and stochastic information are unknown accurately,single fading factor Kalman filter is suitable for simple systems.But for complex systems with multi-variable,it may not be sufficient to use single fading factor as a multiplier for the covariance matrices.In this paper,a new multiple fading factors Kalman filtering algorithm is presented.By calculating the unbiased estimate of the innovation sequence covariance using fenestration,the fading factor matrix is obtained.Adjusting the covariance matrix of prediction error Pk|k-1 using fading factor matrix,the algorithm provides different rates of fading for different filter channels.The proposed algorithm is applied to strapdown inertial navigation system(SINS) initial alignment,and simulation and experimental results demonstrate that,the alignment accuracy can be upgraded dramatically when the actual system noise characteristics are different from the pre-set values.The new algorithm is less sensitive to uncertainty noise and has better estimation effect of the parameters.Therefore,it is of significant value in practical applications.

  12. A robust Kalman framework with resampling and optimal smoothing.

    Science.gov (United States)

    Kautz, Thomas; Eskofier, Bjoern M

    2015-02-27

    The Kalman filter (KF) is an extremely powerful and versatile tool for signal processing that has been applied extensively in various fields. We introduce a novel Kalman-based analysis procedure that encompasses robustness towards outliers, Kalman smoothing and real-time conversion from non-uniformly sampled inputs to a constant output rate. These features have been mostly treated independently, so that not all of their benefits could be exploited at the same time. Here, we present a coherent analysis procedure that combines the aforementioned features and their benefits. To facilitate utilization of the proposed methodology and to ensure optimal performance, we also introduce a procedure to calculate all necessary parameters. Thereby, we substantially expand the versatility of one of the most widely-used filtering approaches, taking full advantage of its most prevalent extensions. The applicability and superior performance of the proposed methods are demonstrated using simulated and real data. The possible areas of applications for the presented analysis procedure range from movement analysis over medical imaging, brain-computer interfaces to robot navigation or meteorological studies.

  13. Statistical process control of a Kalman filter model.

    Science.gov (United States)

    Gamse, Sonja; Nobakht-Ersi, Fereydoun; Sharifi, Mohammad A

    2014-09-26

    For the evaluation of measurement data, different functional and stochastic models can be used. In the case of time series, a Kalman filtering (KF) algorithm can be implemented. In this case, a very well-known stochastic model, which includes statistical tests in the domain of measurements and in the system state domain, is used. Because the output results depend strongly on input model parameters and the normal distribution of residuals is not always fulfilled, it is very important to perform all possible tests on output results. In this contribution, we give a detailed description of the evaluation of the Kalman filter model. We describe indicators of inner confidence, such as controllability and observability, the determinant of state transition matrix and observing the properties of the a posteriori system state covariance matrix and the properties of the Kalman gain matrix. The statistical tests include the convergence of standard deviations of the system state components and normal distribution beside standard tests. Especially, computing controllability and observability matrices and controlling the normal distribution of residuals are not the standard procedures in the implementation of KF. Practical implementation is done on geodetic kinematic observations.

  14. Acoustic cardiac signals analysis: a Kalman filter-based approach.

    Science.gov (United States)

    Salleh, Sheik Hussain; Hussain, Hadrina Sheik; Swee, Tan Tian; Ting, Chee-Ming; Noor, Alias Mohd; Pipatsart, Surasak; Ali, Jalil; Yupapin, Preecha P

    2012-01-01

    Auscultation of the heart is accompanied by both electrical activity and sound. Heart auscultation provides clues to diagnose many cardiac abnormalities. Unfortunately, detection of relevant symptoms and diagnosis based on heart sound through a stethoscope is difficult. The reason GPs find this difficult is that the heart sounds are of short duration and separated from one another by less than 30 ms. In addition, the cost of false positives constitutes wasted time and emotional anxiety for both patient and GP. Many heart diseases cause changes in heart sound, waveform, and additional murmurs before other signs and symptoms appear. Heart-sound auscultation is the primary test conducted by GPs. These sounds are generated primarily by turbulent flow of blood in the heart. Analysis of heart sounds requires a quiet environment with minimum ambient noise. In order to address such issues, the technique of denoising and estimating the biomedical heart signal is proposed in this investigation. Normally, the performance of the filter naturally depends on prior information related to the statistical properties of the signal and the background noise. This paper proposes Kalman filtering for denoising statistical heart sound. The cycles of heart sounds are certain to follow first-order Gauss-Markov process. These cycles are observed with additional noise for the given measurement. The model is formulated into state-space form to enable use of a Kalman filter to estimate the clean cycles of heart sounds. The estimates obtained by Kalman filtering are optimal in mean squared sense.

  15. A Robust Kalman Framework with Resampling and Optimal Smoothing

    Directory of Open Access Journals (Sweden)

    Thomas Kautz

    2015-02-01

    Full Text Available The Kalman filter (KF is an extremely powerful and versatile tool for signal processing that has been applied extensively in various fields. We introduce a novel Kalman-based analysis procedure that encompasses robustness towards outliers, Kalman smoothing and real-time conversion from non-uniformly sampled inputs to a constant output rate. These features have been mostly treated independently, so that not all of their benefits could be exploited at the same time. Here, we present a coherent analysis procedure that combines the aforementioned features and their benefits. To facilitate utilization of the proposed methodology and to ensure optimal performance, we also introduce a procedure to calculate all necessary parameters. Thereby, we substantially expand the versatility of one of the most widely-used filtering approaches, taking full advantage of its most prevalent extensions. The applicability and superior performance of the proposed methods are demonstrated using simulated and real data. The possible areas of applications for the presented analysis procedure range from movement analysis over medical imaging, brain-computer interfaces to robot navigation or meteorological studies.

  16. Nonlinear supratransmission

    Energy Technology Data Exchange (ETDEWEB)

    Geniet, F; Leon, J [Physique Mathematique et Theorique, CNRS-UMR 5825, 34095 Montpellier (France)

    2003-05-07

    A nonlinear system possessing a natural forbidden band gap can transmit energy of a signal with a frequency in the gap, as recently shown for a nonlinear chain of coupled pendulums (Geniet and Leon 2002 Phys. Rev. Lett. 89 134102). This process of nonlinear supratransmission, occurring at a threshold that is exactly predictable in many cases, is shown to have a simple experimental realization with a mechanical chain of pendulums coupled by a coil spring. It is then analysed in more detail. First we go to different (nonintegrable) systems which do sustain nonlinear supratransmission. Then a Josephson transmission line (a one-dimensional array of short Josephson junctions coupled through superconducting wires) is shown to also sustain nonlinear supratransmission, though being related to a different class of boundary conditions, and despite the presence of damping, finiteness, and discreteness. Finally, the mechanism at the origin of nonlinear supratransmission is found to be a nonlinear instability, and this is briefly discussed here.

  17. A heuristic reference recursive recipe for adaptively tuning the Kalman filter statistics part-1: formulation and simulation studies

    Indian Academy of Sciences (India)

    M R ANANTHASAYANAM; M SHYAM MOHAN; NAREN NAIK; R M O GEMSON

    2016-12-01

    Since the innovation of the ubiquitous Kalman filter more than five decades back it is well known that to obtain the best possible estimates the tuning of its statistics X0, P0, H, R and Q namely initial state and covariance, unknown parameters, and the measurement and state noise covariances is very crucial. The manual and other approaches have not matured to a routine approach applicable for any general problem. The present reference recursive recipe (RRR) utilizes the prior, posterior, and smoothed state estimates as well as their covariances to balance the state and measurement equations and thus form generalized cost functions. The filter covariance at the end of each pass is heuristically scaled up by the number of data points and further trimmed toprovide the P0 for subsequent passes. The importance of P0 as the probability matching prior between the frequentist approach via optimization and the Bayesian approach of the Kalman filter is stressed. A simultaneous and proper choice for Q and R based on the filter sample statistics and other covariances leads to a stable filter operation after a few iterations. A typical simulation study of a spring, mass and damper system with a weak nonlinear spring constant by RRR shows it to be better than earlier techniques. Part-2 of the paper further consolidates the present approach based on an analysis of real flight test data.

  18. Kalman/Map Filtering-Aided Fast Normalized Cross Correlation-Based Wi-Fi Fingerprinting Location Sensing

    Directory of Open Access Journals (Sweden)

    Yongliang Sun

    2013-11-01

    Full Text Available A Kalman/map filtering (KMF-aided fast normalized cross correlation (FNCC-based Wi-Fi fingerprinting location sensing system is proposed in this paper. Compared with conventional neighbor selection algorithms that calculate localization results with received signal strength (RSS mean samples, the proposed FNCC algorithm makes use of all the on-line RSS samples and reference point RSS variations to achieve higher fingerprinting accuracy. The FNCC computes efficiently while maintaining the same accuracy as the basic normalized cross correlation. Additionally, a KMF is also proposed to process fingerprinting localization results. It employs a new map matching algorithm to nonlinearize the linear location prediction process of Kalman filtering (KF that takes advantage of spatial proximities of consecutive localization results. With a calibration model integrated into an indoor map, the map matching algorithm corrects unreasonable prediction locations of the KF according to the building interior structure. Thus, more accurate prediction locations are obtained. Using these locations, the KMF considerably improves fingerprinting algorithm performance. Experimental results demonstrate that the FNCC algorithm with reduced computational complexity outperforms other neighbor selection algorithms and the KMF effectively improves location sensing accuracy by using indoor map information and spatial proximities of consecutive localization results.

  19. State of Charge Estimation Using the Extended Kalman Filter for Battery Management Systems Based on the ARX Battery Model

    Directory of Open Access Journals (Sweden)

    Hongjie Wu

    2013-01-01

    Full Text Available State of charge (SOC is a critical factor to guarantee that a battery system is operating in a safe and reliable manner. Many uncertainties and noises, such as fluctuating current, sensor measurement accuracy and bias, temperature effects, calibration errors or even sensor failure, etc. pose a challenge to the accurate estimation of SOC in real applications. This paper adds two contributions to the existing literature. First, the auto regressive exogenous (ARX model is proposed here to simulate the battery nonlinear dynamics. Due to its discrete form and ease of implemention, this straightforward approach could be more suitable for real applications. Second, its order selection principle and parameter identification method is illustrated in detail in this paper. The hybrid pulse power characterization (HPPC cycles are implemented on the 60AH LiFePO4 battery module for the model identification and validation. Based on the proposed ARX model, SOC estimation is pursued using the extended Kalman filter. Evaluation of the adaptability of the battery models and robustness of the SOC estimation algorithm are also verified. The results indicate that the SOC estimation method using the Kalman filter based on the ARX model shows great performance. It increases the model output voltage accuracy, thereby having the potential to be used in real applications, such as EVs and HEVs.

  20. A hybrid nudging-ensemble Kalman filter approach to data assimilation. Part I: application in the Lorenz system

    Directory of Open Access Journals (Sweden)

    Lili Lei

    2012-05-01

    Full Text Available A hybrid data assimilation approach combining nudging and the ensemble Kalman filter (EnKF for dynamic analysis and numerical weather prediction is explored here using the non-linear Lorenz three-variable model system with the goal of a smooth, continuous and accurate data assimilation. The hybrid nudging-EnKF (HNEnKF computes the hybrid nudging coefficients from the flow-dependent, time-varying error covariance matrix from the EnKF's ensemble forecasts. It extends the standard diagonal nudging terms to additional off-diagonal statistical correlation terms for greater inter-variable influence of the innovations in the model's predictive equations to assist in the data assimilation process. The HNEnKF promotes a better fit of an analysis to data compared to that achieved by either nudging or incremental analysis update (IAU. When model error is introduced, it produces similar or better root mean square errors compared to the EnKF while minimising the error spikes/discontinuities created by the intermittent EnKF. It provides a continuous data assimilation with better inter-variable consistency and improved temporal smoothness than that of the EnKF. Data assimilation experiments are also compared to the ensemble Kalman smoother (EnKS. The HNEnKF has similar or better temporal smoothness than that of the EnKS, and with much smaller central processing unit (CPU time and data storage requirements.

  1. Estimating Lithium-Ion Battery State of Charge and Parameters Using a Continuous-Discrete Extended Kalman Filter

    Directory of Open Access Journals (Sweden)

    Yasser Diab

    2017-07-01

    Full Text Available A real-time determination of battery parameters is challenging because batteries are non-linear, time-varying systems. The transient behaviour of lithium-ion batteries is modelled by a Thevenin-equivalent circuit with two time constants characterising activation and concentration polarization. An experimental approach is proposed for directly determining battery parameters as a function of physical quantities. The model’s parameters are a function of the state of charge and of the discharge rate. These can be expressed by regression equations in the model to derive a continuous-discrete extended Kalman estimator of the state of charge and of other parameters. This technique is based on numerical integration of the ordinary differential equations to predict the state of the stochastic dynamic system and the corresponding error covariance matrix. Then a standard correction step of the extended Kalman filter (EKF is applied to increase the accuracy of estimated parameters. Simulations resulting from this proposed estimator model were compared with experimental results under a variety of operating scenarios—analysis of the results demonstrate the accuracy of the estimator for correctly identifying battery parameters.

  2. Quantizing Constrained Systems New Perspectives

    CERN Document Server

    Kaplan, L; Heller, E J

    1997-01-01

    We consider quantum mechanics on constrained surfaces which have non-Euclidean metrics and variable Gaussian curvature. The old controversy about the ambiguities involving terms in the Hamiltonian of order hbar^2 multiplying the Gaussian curvature is addressed. We set out to clarify the matter by considering constraints to be the limits of large restoring forces as the constraint coordinates deviate from their constrained values. We find additional ambiguous terms of order hbar^2 involving freedom in the constraining potentials, demonstrating that the classical constrained Hamiltonian or Lagrangian cannot uniquely specify the quantization: the ambiguity of directly quantizing a constrained system is inherently unresolvable. However, there is never any problem with a physical quantum system, which cannot have infinite constraint forces and always fluctuates around the mean constraint values. The issue is addressed from the perspectives of adiabatic approximations in quantum mechanics, Feynman path integrals, a...

  3. Power-constrained supercomputing

    Science.gov (United States)

    Bailey, Peter E.

    As we approach exascale systems, power is turning from an optimization goal to a critical operating constraint. With power bounds imposed by both stakeholders and the limitations of existing infrastructure, achieving practical exascale computing will therefore rely on optimizing performance subject to a power constraint. However, this requirement should not add to the burden of application developers; optimizing the runtime environment given restricted power will primarily be the job of high-performance system software. In this dissertation, we explore this area and develop new techniques that extract maximum performance subject to a particular power constraint. These techniques include a method to find theoretical optimal performance, a runtime system that shifts power in real time to improve performance, and a node-level prediction model for selecting power-efficient operating points. We use a linear programming (LP) formulation to optimize application schedules under various power constraints, where a schedule consists of a DVFS state and number of OpenMP threads for each section of computation between consecutive message passing events. We also provide a more flexible mixed integer-linear (ILP) formulation and show that the resulting schedules closely match schedules from the LP formulation. Across four applications, we use our LP-derived upper bounds to show that current approaches trail optimal, power-constrained performance by up to 41%. This demonstrates limitations of current systems, and our LP formulation provides future optimization approaches with a quantitative optimization target. We also introduce Conductor, a run-time system that intelligently distributes available power to nodes and cores to improve performance. The key techniques used are configuration space exploration and adaptive power balancing. Configuration exploration dynamically selects the optimal thread concurrency level and DVFS state subject to a hardware-enforced power bound

  4. Stochastic Optimal Estimation with Fuzzy Random Variables and Fuzzy Kalman Filtering

    Institute of Scientific and Technical Information of China (English)

    FENG Yu-hu

    2005-01-01

    By constructing a mean-square performance index in the case of fuzzy random variable, the optimal estimation theorem for unknown fuzzy state using the fuzzy observation data are given. The state and output of linear discrete-time dynamic fuzzy system with Gaussian noise are Gaussian fuzzy random variable sequences. An approach to fuzzy Kalman filtering is discussed. Fuzzy Kalman filtering contains two parts: a real-valued non-random recurrence equation and the standard Kalman filtering.

  5. Unscented Kalman filters for polarization state tracking and phase noise mitigation.

    Science.gov (United States)

    Jignesh, Jokhakar; Corcoran, Bill; Zhu, Chen; Lowery, Arthur

    2016-09-19

    Simultaneous polarization and phase noise tracking and compensation is proposed based on an unscented Kalman filter (UKF). We experimentally demonstrate the tracking under noise-loading and after 800-km single-mode fiber transmission with 20-Gbaud QPSK and 16-QAM signals. These experiments show that the proposed UKF outperforms both conventional blind tracing algorithms and a previously proposed extended Kalman filter, at the cost of higher complexity. Additionally, we propose and test modified Kalman filter algorithms to reduce computational complexity.

  6. A Tensor Network Kalman filter with an application in recursive MIMO Volterra system identification

    OpenAIRE

    Batselier, Kim; Chen, Zhongming; Wong, Ngai

    2016-01-01

    This article introduces a Tensor Network Kalman filter, which can estimate state vectors that are exponentially large without ever having to explicitly construct them. The Tensor Network Kalman filter also easily accommodates the case where several different state vectors need to be estimated simultaneously. The key lies in rewriting the standard Kalman equations as tensor equations and then implementing them using Tensor Networks, which effectively transforms the exponential storage cost and...

  7. Generalized unscented Kalman filtering based radial basis function neural network for the prediction of ground radioactivity time series with missing data

    Institute of Scientific and Technical Information of China (English)

    Wu Xue-Dong; Wang Yao-Nan; Liu Wei-Ting; Zhu Zhi-Yu

    2011-01-01

    On the assumption that random interruptions in the observation process are modeled by a sequence of independent Bernoulli random variables, we firstly generalize two kinds of nonlinear filtering methods with random interruption failures in the observation based on the extended Kalman filtering (EKF) and the unscented Kalman filtering (UKF),which were shortened as GEKF and GUKF in this paper, respectively. Then the nonlinear filtering model is established by using the radial basis function neural network (RBFNN) prototypes and the network weights as state equation and the output of RBFNN to present the observation equation. Finally, we take the filtering problem under missing observed data as a special case of nonlinear filtering with random intermittent failures by setting each missing data to be zero without needing to pre-estimate the missing data, and use the GEKF-based RBFNN and the GUKF-based RBFNN to predict the ground radioactivity time series with missing data. Experimental results demonstrate that the prediction results of GUKF-based RBFNN accord well with the real ground radioactivity time series while the prediction results of GEKF-based RBFNN are divergent.

  8. A New Quaternion-Based Kalman Filter for Real-Time Attitude Estimation Using the Two-Step Geometrically-Intuitive Correction Algorithm.

    Science.gov (United States)

    Feng, Kaiqiang; Li, Jie; Zhang, Xiaoming; Shen, Chong; Bi, Yu; Zheng, Tao; Liu, Jun

    2017-09-19

    In order to reduce the computational complexity, and improve the pitch/roll estimation accuracy of the low-cost attitude heading reference system (AHRS) under conditions of magnetic-distortion, a novel linear Kalman filter, suitable for nonlinear attitude estimation, is proposed in this paper. The new algorithm is the combination of two-step geometrically-intuitive correction (TGIC) and the Kalman filter. In the proposed algorithm, the sequential two-step geometrically-intuitive correction scheme is used to make the current estimation of pitch/roll immune to magnetic distortion. Meanwhile, the TGIC produces a computed quaternion input for the Kalman filter, which avoids the linearization error of measurement equations and reduces the computational complexity. Several experiments have been carried out to validate the performance of the filter design. The results demonstrate that the mean time consumption and the root mean square error (RMSE) of pitch/roll estimation under magnetic disturbances are reduced by 45.9% and 33.8%, respectively, when compared with a standard filter. In addition, the proposed filter is applicable for attitude estimation under various dynamic conditions.

  9. Enhancement of Spanish Oesophageal Speech vowels using coherent subband modulator Kalman filtering.

    Science.gov (United States)

    Ishaq, Rizwan; Zapirain, Begoña García

    2016-01-01

    This paper proposes an Oesophageal Speech (OES) enhancement method, based on Kalman filtering. The Kalman filter is applied to modulators of OES frequency subbands instead of the fullband signal. The OES frequency subbands are decomposed into modulators and carriers components using coherent demodulation. In comparison with fullband Kalman filtering and pole stabilization, the proposed technique shows better results. The system performance is evaluated objectively and subjectively using the Harmonic to Noise Ratio (HNR) and Mean Opinion Score (MOS) respectively. Results have shown that Kalman filter in subband modulators processing is robust and efficient, improving the HNR by 4 to 5 dB for all Spanish vowels.

  10. Comparison of Unscented Kalman Filter and Unscented Schmidt Kalman Filter in Predicting Attitude and Associated Uncertainty of a Geosynchronous Satellite

    Science.gov (United States)

    2014-09-01

    attitude estimate. 1. INTRODUCTION The utility of using brightness ( radiometric flux intensity) measurements to determine a space object (SO)’s...a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. 1. REPORT DATE SEP...2014 2. REPORT TYPE 3. DATES COVERED 00-00-2014 to 00-00-2014 4. TITLE AND SUBTITLE Comparison of Unscented Kalman Filter and Unscented Schmidt

  11. Shape space exploration of constrained meshes

    KAUST Repository

    Yang, Yongliang

    2011-01-01

    We present a general computational framework to locally characterize any shape space of meshes implicitly prescribed by a collection of non-linear constraints. We computationally access such manifolds, typically of high dimension and co-dimension, through first and second order approximants, namely tangent spaces and quadratically parameterized osculant surfaces. Exploration and navigation of desirable subspaces of the shape space with regard to application specific quality measures are enabled using approximants that are intrinsic to the underlying manifold and directly computable in the parameter space of the osculant surface. We demonstrate our framework on shape spaces of planar quad (PQ) meshes, where each mesh face is constrained to be (nearly) planar, and circular meshes, where each face has a circumcircle. We evaluate our framework for navigation and design exploration on a variety of inputs, while keeping context specific properties such as fairness, proximity to a reference surface, etc.

  12. Shape space exploration of constrained meshes

    KAUST Repository

    Yang, Yongliang

    2011-12-12

    We present a general computational framework to locally characterize any shape space of meshes implicitly prescribed by a collection of non-linear constraints. We computationally access such manifolds, typically of high dimension and co-dimension, through first and second order approximants, namely tangent spaces and quadratically parameterized osculant surfaces. Exploration and navigation of desirable subspaces of the shape space with regard to application specific quality measures are enabled using approximants that are intrinsic to the underlying manifold and directly computable in the parameter space of the osculant surface. We demonstrate our framework on shape spaces of planar quad (PQ) meshes, where each mesh face is constrained to be (nearly) planar, and circular meshes, where each face has a circumcircle. We evaluate our framework for navigation and design exploration on a variety of inputs, while keeping context specific properties such as fairness, proximity to a reference surface, etc. © 2011 ACM.

  13. Regions of constrained maximum likelihood parameter identifiability

    Science.gov (United States)

    Lee, C.-H.; Herget, C. J.

    1975-01-01

    This paper considers the parameter identification problem of general discrete-time, nonlinear, multiple-input/multiple-output dynamic systems with Gaussian-white distributed measurement errors. Knowledge of the system parameterization is assumed to be known. Regions of constrained maximum likelihood (CML) parameter identifiability are established. A computation procedure employing interval arithmetic is proposed for finding explicit regions of parameter identifiability for the case of linear systems. It is shown that if the vector of true parameters is locally CML identifiable, then with probability one, the vector of true parameters is a unique maximal point of the maximum likelihood function in the region of parameter identifiability and the CML estimation sequence will converge to the true parameters.

  14. Applications of Kalman Filtering to nuclear material control. [Kalman filtering and linear smoothing for detecting nuclear material losses

    Energy Technology Data Exchange (ETDEWEB)

    Pike, D.H.; Morrison, G.W.; Westley, G.W.

    1977-10-01

    The feasibility of using modern state estimation techniques (specifically Kalman Filtering and Linear Smoothing) to detect losses of material from material balance areas is evaluated. It is shown that state estimation techniques are not only feasible but in most situations are superior to existing methods of analysis. The various techniques compared include Kalman Filtering, linear smoothing, standard control charts, and average cumulative summation (CUSUM) charts. Analysis results indicated that the standard control chart is the least effective method for detecting regularly occurring losses. An improvement in the detection capability over the standard control chart can be realized by use of the CUSUM chart. Even more sensitivity in the ability to detect losses can be realized by use of the Kalman Filter and the linear smoother. It was found that the error-covariance matrix can be used to establish limits of error for state estimates. It is shown that state estimation techniques represent a feasible and desirable method of theft detection. The technique is usually more sensitive than the CUSUM chart in detecting losses. One kind of loss which is difficult to detect using state estimation techniques is a single isolated loss. State estimation procedures are predicated on dynamic models and are well-suited for detecting losses which occur regularly over several accounting periods. A single isolated loss does not conform to this basic assumption and is more difficult to detect.

  15. New Quasidilaton theory in Partially Constrained Vielbein Formalism

    CERN Document Server

    De Felice, Antonio; Heisenberg, Lavinia; Mukohyama, Shinji; Tanahashi, Norihiro

    2016-01-01

    In this work we study the partially constrained vielbein formulation of the new quasidilaton theory of massive gravity which couples to both physical and fiducial metrics simultaneously via a composite effective metric. This formalism improves the new quasidilaton model since the Boulware-Deser ghost is removed fully non-linearly at all scales. This also yields crucial implications in the cosmological applications. We derive the governing cosmological background evolution and study the stability of the attractor solution.

  16. Application of a Reduced Order Kalman Filter to Initialize a Coupled Atmosphere-Ocean Model: Impact on the Prediction of El Nino

    Science.gov (United States)

    Ballabrera-Poy, Joaquim; Busalacchi, Antonio J.; Murtugudde, Ragu

    2000-01-01

    A reduced order Kalman Filter, based on a simplification of the Singular Evolutive Extended Kalman (SEEK) filter equations, is used to assimilate observed fields of the surface wind stress, sea surface temperature and sea level into the nonlinear coupled ocean-atmosphere model. The SEEK filter projects the Kalman Filter equations onto a subspace defined by the eigenvalue decomposition of the error forecast matrix, allowing its application to high dimensional systems. The Zebiak and Cane model couples a linear reduced gravity ocean model with a single vertical mode atmospheric model of Zebiak. The compatibility between the simplified physics of the model and each observed variable is studied separately and together. The results show the ability of the model to represent the simultaneous value of the wind stress, SST and sea level, when the fields are limited to the latitude band 10 deg S - 10 deg N. In this first application of the Kalman Filter to a coupled ocean-atmosphere prediction model, the sea level fields are assimilated in terms of the Kelvin and Rossby modes of the thermocline depth anomaly. An estimation of the error of these modes is derived from the projection of an estimation of the sea level error over such modes. This method gives a value of 12 for the error of the Kelvin amplitude, and 6 m of error for the Rossby component of the thermocline depth. The ability of the method to reconstruct the state of the equatorial Pacific and predict its time evolution is demonstrated. The method is shown to be quite robust for predictions I up to six months, and able to predict the onset of the 1997 warm event fifteen months before its occurrence.

  17. Secure Fusion Estimation for Bandwidth Constrained Cyber-Physical Systems Under Replay Attacks.

    Science.gov (United States)

    Chen, Bo; Ho, Daniel W C; Hu, Guoqiang; Yu, Li

    2017-07-03

    State estimation plays an essential role in the monitoring and supervision of cyber-physical systems (CPSs), and its importance has made the security and estimation performance a major concern. In this case, multisensor information fusion estimation (MIFE) provides an attractive alternative to study secure estimation problems because MIFE can potentially improve estimation accuracy and enhance reliability and robustness against attacks. From the perspective of the defender, the secure distributed Kalman fusion estimation problem is investigated in this paper for a class of CPSs under replay attacks, where each local estimate obtained by the sink node is transmitted to a remote fusion center through bandwidth constrained communication channels. A new mathematical model with compensation strategy is proposed to characterize the replay attacks and bandwidth constrains, and then a recursive distributed Kalman fusion estimator (DKFE) is designed in the linear minimum variance sense. According to different communication frameworks, two classes of data compression and compensation algorithms are developed such that the DKFEs can achieve the desired performance. Several attack-dependent and bandwidth-dependent conditions are derived such that the DKFEs are secure under replay attacks. An illustrative example is given to demonstrate the effectiveness of the proposed methods.

  18. Nonlinear regime-switching state-space (RSSS) models.

    Science.gov (United States)

    Chow, Sy-Miin; Zhang, Guangjian

    2013-10-01

    Nonlinear dynamic factor analysis models extend standard linear dynamic factor analysis models by allowing time series processes to be nonlinear at the latent level (e.g., involving interaction between two latent processes). In practice, it is often of interest to identify the phases--namely, latent "regimes" or classes--during which a system is characterized by distinctly different dynamics. We propose a new class of models, termed nonlinear regime-switching state-space (RSSS) models, which subsumes regime-switching nonlinear dynamic factor analysis models as a special case. In nonlinear RSSS models, the change processes within regimes, represented using a state-space model, are allowed to be nonlinear. An estimation procedure obtained by combining the extended Kalman filter and the Kim filter is proposed as a way to estimate nonlinear RSSS models. We illustrate the utility of nonlinear RSSS models by fitting a nonlinear dynamic factor analysis model with regime-specific cross-regression parameters to a set of experience sampling affect data. The parallels between nonlinear RSSS models and other well-known discrete change models in the literature are discussed briefly.

  19. Practical Nonlinearities

    Science.gov (United States)

    2016-07-01

    Advanced Research Projects Agency (DARPA) Dynamics-Enabled Frequency Sources (DEFYS) program is focused on the convergence of nonlinear dynamics and...Early work in this program has shown that nonlinear dynamics can provide performance advantages. However, the pathway from initial results to...dependent nonlinear stiffness observed in these devices. This work is ongoing, and will continue through the final period of this program . Reference 9

  20. NONLINEAR FILTER METHOD OF GPS DYNAMIC POSITIONING BASED ON BANCROFT ALGORITHM

    Institute of Scientific and Technical Information of China (English)

    ZHANGQin; TAOBen-zao; ZHAOChao-ying; WANGLi

    2005-01-01

    Because of the ignored items after linearization, the extended Kalman filter (EKF) becomes a form of suboptimal gradient descent algorithm. The emanative tendency exists in GPS solution when the filter equations are ill-posed. The deviation in the estimation cannot be avoided. Furthermore, the true solution may be lost in pseudorange positioning because the linearized pseudorange equations are partial solutions. To solve the above problems in GPS dynamic positioning by using EKF, a closed-form Kalman filter method called the two-stage algorithm is presented for the nonlinear algebraic solution of GPS dynamic positioning based on the global nonlinear least squares closed algorithm--Bancroft numerical algorithm of American. The method separates the spatial parts from temporal parts during processing the GPS filter problems, and solves the nonlinear GPS dynamic positioning, thus getting stable and reliable dynamic positioning solutions.