Robust adaptive subspace extraction for DOA tracking
نویسندگان
چکیده
This paper addresses the problem of extracting a time-varying signal subspace from noisy signal measurements for direction-of-arrival (DOA) estimation and tracking. A robust adaptive method for extracting the signal subspace is developed based on robust statistics. The method is more resistant to the presence of outliers than existing adaptive methods. Robust DOA estimation and tracking are achieved by incorporating the method with the TLS-ESPRIT method. Experimental results demonstrate the viability and superiority of the proposed method over existing methods.
منابع مشابه
Robust DOA Estimation Using Independent Component Analysis
The paper deals with robust direction of arrival (DOA) estimation based on independent component analysis (ICA) in the presence of sensor gain perturbation and unknown noise fields. It has been shown that the noise subspace based estimator suffers from the drawback of being very sensitivity to orthogonality between the estimated noise subspace and true signal subspace. However, no single subspa...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملDifferent Wideband Direction of Arrival(DOA) Estimation methods: An Overview
This paper presents an overview of different types of wideband direction of Arrival (DOA) estimation methods. Direction-finding algorithms have straight forward applications in Sonar and Radar, and are also useful in advanced satellite and cellular communication systems for adaptive beamforming of smart antennas. Coherent Signal Subspace Processing (CSSM), one of the earliest wideband DOA estim...
متن کاملAdaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملA Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...
متن کامل