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 te...

Abstract: For multi-sensor system with colored measurement noises, using the observation transformation, the system can be converted into an equivalent system with correlated measurement noises. Based on this method, using the classical Kalman filtering, this study proposed a Covariance Intersection (CI) fusion Kalman estimator, which can handle the fused filtering, prediction and smoothing pro...

An attitude reconstruction algorithm has been developed for a flexible sounding rocket whose spin vector nutates unstably about its minor inertia axis. This algorithm deduces attitude for use in post-flight analysis of the sounding rocket's science data. An additional motive for pursuing this work has been to show that a flexible-body dynamic model can be used in a Kalman filter/smoother-type a...

Abstract: A 3-model interacting multiple model extended Kalman filter with constant velocity, constant acceleration and constant turn models (IMMEKF-VAT) is proposed for tracking a maneuvering target undergoing acceleration as well as turn maneuvers in the Cartesian z x − plane. Its performance is compared with 2-model IMMEKF-VA. Performance comparison indicates that the IMMEKF-VAT provides smo...

The Earth’s surface is under the continuous influence of a variety of natural forces and human induced sources. Strain data are good examples of such disturbed signals. To determine the geodetic strain behavior before and after the 2003 Tokachi-oki earthquake (M8.0), we decomposed the disturbed strain data into trend, air pressure, earth tide, and precipitation responses components. The decompo...

GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) systems have found widespread usage in industry, especially in automated agriculture. Automated agriculture requires high frequency, precise, steady and smooth attitude solutions. This necessitates smooth error patterns in navigation solutions. Given that navigation solutions can be derived from different information sourc...

Two novel adaptive control laws are presented. The first is based on the use of a tunable stiffness term that provides a frequency dependent filtering effect, smoother transient responses, and time delay robustness in the adaptive system. The second is an H2 approach which extends a recently developed Kalman filter based approach to adaptive control law modification, by providing an optimal tim...

We analyzed the performance of a biologically inspired algorithm called the Corrected Projections Algorithm (CPA) when a sparseness constraint is required to unambiguously reconstruct an observed signal using atoms from an overcomplete dictionary. By changing the geometry of the estimation problem, CPA gives an analytical expression for a binary variable that indicates the presence or absence o...

The measured rate of the tracking sensor becomes biased under some operational situation. For a highly maneuverable aircraft in 3D space, the target dynamics changes from time to time, and the Kalman filter using position measurement only can not be used effectively to reject the rate measurement bias error. To cope with this problem, we present a new algorithm which incorporate FIR-type filter...

This paper deals with the problem of estimating structure and motion from long continuous image sequences, applying the Expectation Maximization algorithm based on extended Kalman smoother to impose the time-continuity of the motion parameters. By repeatedly estimating the state transition matrix of the dynamic equation and the parameters of noise processes in the dynamic and measurement equati...