Recently, artificial neural networks have been successfully applied to various hydrologic problems. This paper proposed flood water level modeling using the Hybrid of Back Propagation Neural Network with Extended Kalman Filter and the Hybrid of Elman Neural Network with Extended Kalman Filter that using the water level data from Sungai Kelang which is located at Jambatan Petaling, Kuala Lumpur....

The Extended Kalman Filter (EKF) is a well established technique for position and velocity estimation. However, the performance of the EKF degrades considerably in highly non-linear system applications as it requires local linearisation in its prediction stage. The Unscented Kalman Filter (UKF) was developed to address the non-linearity in the system by deterministic sampling. The UKF provides ...

Electrocardiogram (ECG) is a non-invasive tool that monitors the electrical activity of the heart. An ECG signal is highly prone to the disturbances such as noise contamination, artifacts and other signals interference. So, an ECG signal has to be de-noised so that the distortions can be eliminated from the original signal for the perfect diagnosing of the condition and performance of the heart...

The problem of tracking a vessel modelled at a distance by an equivalent magnetic dipole is investigated. Tracking a magnetic dipole from magnetic field measurements is a complex non-linear problem. The determination of target position, velocity and magnetic moment is formulated as an optimal stochastic estimation problem, which could be solved using the non-linear Kalman filtering methods. The...

This brief technical note elaborates three well-known state estimators, which are used extensively in practice. These are the rather old-fashioned extended Kalman filter (EKF) and the recently-designed cubature Kalman filtering (CKF) and un-scented Kalman filtering (UKF) algorithms. Nowadays, it is commonly accepted that the contemporary techniques outperform always the traditional EKF in the a...

Simultaneous localization and mapping (SLAM) of working environments is one of the important problems in mobile robotics. For the problem, we present a new method using an omnidirectional stereo system. By using 3D range information obtained from the omnidirectional stereo, we construct scan-matching based extended Kalman filter SLAM(EKF-SLAM) system. In the system, the output of the piecewise ...

This work proposes a SLAM (Simultaneous Localization And Mapping) solution based on an Extended Kalman Filter (EKF) in order to enable a robot to navigate along the environment using information from odometry and pre-existing lines on the floor. These lines are recognized by a Hough transform and are mapped into world measurements using a homography matrix. The prediction phase of the EKF is de...

This paper investigates the possibility estimating the direction of arrival (DOA) in a system identification perspective. The system is modeled as an autoregressive (AR) process and extended Kalman filter (EKF) is used to estimate the DOA, which forms a state of the augmented state vector of the EKF. The states generate the signals at a linearly phased array. Simulation results demonstrate the ...

This thesis investigates the use of Carrier-phase Differential GPS (CDGPS) in relative navigation filters for formation flying spacecraft. This work analyzes the relationship between the Extended Kalman Filter (EKF) design parameters and the resulting estimation accuracies, and in particular, the effect of the process and measurement noises on the semimajor axis error. This analysis clearly dem...

People tracking is an essential part for modern service robots. In this paper we compare three different Bayesian estimators to perform such task: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Sampling Importance Resampling (SIR) Particle Filter. We give a brief explanation of each technique and describe the system implemented to perform people tracking with a mobile robot usi...