A convergence analysis of the modified unscented Kalman filter (UKF), used as an observer for a class nonlinear deterministic continuous time systems, is presented. Under certain conditions, extended (EKF) exponential non-linear i.e., dynamics estimation error exponentially stable. It shown that unlike EKF, UKF not converging observer. modification – proposed, which better candidate This paper ...

In-motion alignment of a SDINS/GPS integrated system, determining the angular relationship between the navigation frame and the body frame is a necessary process. This paper describes the in-motion alignment procedure for a low-cost GPS/INS integrated system using the Unscented Kalman Filter (UKF) and Central Difference Kalman Filter (CDKF). The UKF and CDKF are used to implement the in-motion ...

We consider the problem of nonlinear filtering under the circumstance of unknown covariance statistic of the measurement noise. A novel adaptive unscented Kalman filter (UKF) integrating variational Bayesian methods and fuzzy logic techniques is proposed in this paper. It is called fuzzy adaptive variational Bayesian UKF (FAVBUKF). Firstly, the sufficient statistics of the measurement noise var...

This paper presents a practical technique for modelbased 3D hand tracking. An anatomically accurate hand model is built from truncated quadrics. This allows for the generation of 2D profiles of the model using elegant tools from projective geometry, and for an efficient method to handle self-occlusion. The pose of the hand model is estimated with an Unscented Kalman filter (UKF), which minimize...

An adaptive High-Gain observer (AHG) as well as an Extended (EKF) and Unscented Kalman filter (UKF) are implemented for joint state and parameter estimation of a novel multi-axial electromagnetically actuated punch. These observers are compared in terms of convergence and response time to erroneous parameter and state initialization, as well as parameter modifications during operation. The AHG ...

The electrical network measurements by measuring device Phasor Measurement Device (PMU) are usually sent to the control centers using data acquisition system and other communication protocols available. However, these measurements contain uncertainties due to the measurements and communication noise (errors), incomplete metering or unavailability of some of measurements. The overall aim of stat...

This paper gives the survey of the existing developments of Visual object target tracking using particle filter from the last decade and discusses the advantage and disadvantages of various particle filters. A variety of different approaches and algorithms have been proposed in literature. At present most of the work in Visual Object Target Tracking is focusing on using particle filter. The par...

: The extended Kalman filter (EKF) has been applied to inferring gene regulatory networks. However, it is well known that the EKF becomes less accurate when the system exhibits high nonlinearity. In addition, certain prior information about the gene regulatory network exists in practice, and no systematic approach has been developed to incorporate such prior information into the Kalman-type fil...

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...

A dynamic feedback system is developed for estimating the headway and velocity in a longitudinal three-vehicle platoon. The estimation system is modeled using a particle filter (PF) and an unscented Kalman filter (UKF) that estimate them by measuring the acceleration rate and/or velocity of probe vehicle(s) in the platoon. State equations are defined as a discrete conservation equation of headw...