Fitting Ellipses and Predicting Confidence Envelopes using a Bias Corrected Kalman Filter

Robust Bias Corrected Least Squares Fitting of Ellipses

Doppler and bearing tracking using fuzzy adaptive unscented Kalman filter

The topic of Doppler and Bearing Tracking (DBT) problem is to achieve a target trajectory using the Doppler and Bearing measurements. The difficulty of DBT problem comes from the nonlinearity terms exposed in the measurement equations. Several techniques were studied to deal with this topic, such as the unscented Kalman filter. Nevertheless, the performance of the filter depends directly on the...

Dynamic Sensor Bias Correction for Attitude Estimation Using Unscented Kalman Filter in Autonomous Vehicle

Abstract. This paper describes a method for estimating sensor biases by using a lowdimensional Unscented Kalman Filter (UKF) to maintain the positional estimation accuracy of an autonomous vehicle (AV). It is difficult to estimate attitude accurately in a blind situation (such as with no GPS satellites and no landmarks), because of sensor bias. We developed a dead reckoning system for an embedd...

Solving Incrementally the Fitting and Detection Problems in fMRI Time Series

We tackle the problem of real-time statistical analysis of functional magnetic resonance imaging (fMRI) data. In a recent paper, we proposed an incremental algorithm based on the extended Kalman filter (EKF) to fit fMRI time series in terms of a general linear model with autoregressive errors (GLM-AR model). We here improve the technique using a new Kalman filter variant specifically tailored t...

Implementation of a Low- Cost Multi- IMU by Using Information Form of a Steady State Kalman Filter

In this paper, a homogenous multi-sensor fusion method is used to estimate the trueangular rate and acceleration with a combination of four low cost (< 10$) MEMS Inertial MeasurementUnits (IMU). An information form of steady state Kalman filter is designed to fuse the output of four lowaccuracy sensors to reduce the noise effect by the square root of the number of sensors. A hardware isimplemen...