Increased patronage of railways in the UK in the past 20 years has put demands on rolling stock to operate at peak availability with reduced time available for maintenance. One possible tool to enable this is the use of real time fault detection and diagnosis on board railway vehicles to detect faulty components and provide information about the current running condition of the system. This pap...

The extended Kalman filter (EKF) is one of the most widely used methods for state estimation with communication and aerospace applications based on its apparent simplicity and tractability (Shi et al., 2002; Bolognani et al., 2003; Wu et al., 2004). However, for an EKF to guarantee satisfactory performance, the system model should be known exactly. Unknown external disturbances may result in th...

More accurate attitude angles can make the control of four-rotor aircrafts more precise. Various filters have been adopted to get more precise attitude angles. However, so far there is no suitable analysis system to evaluate the performance of filters. In this paper, an analysis system has been designed which can get the realistic attitude angles directly and compare the processing results of f...

The well-known Wahba Problem [1] is a non-linear, weighted least-squares problem that seeks to obtain the optimal attitude matrix from a set of at least two independent vector measurements. The most common technique used to solved the Wahba problem is the so-called q-method, developed by Davenport and documented in [2]. The q-method rearranges the Wahba performance index into a quadratic perfor...

ABSTRACT State estimation procedures using the extended Kalman filter are investigated for a transient heat transfer problem in which a heat source is applied on one side of a thin plate and ultrasonic time of flight or temperature is measured on the other side of the plate. A forward conduction solution is developed using finite element methods and verified using closed-form analytic solutions...

Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...

Minimizing forecast error requires accurately specifying the initial state from which the forecast is made by optimally using available observing resources to obtain the most accurate possible analysis. The Kalman filter accomplishes this for linear systems and experience shows that the extended Kalman filter also performs well in nonlinear systems. Unfortunately, the Kalman filter and the exte...