نتایج جستجو برای: ukf

تعداد نتایج: 586  

2015
Guo-Yong Wang Bing-Lei Guan

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...

Journal: :Remote Sensing 2017
Huan Zhou Hanqiao Huang Hui Zhao Xin Zhao Xiang Yin

In order to improve filtering precision and restrain divergence caused by sensor faults or model mismatches for target tracking, a new adaptive unscented Kalman filter (N-AUKF) algorithm is proposed. First of all, the unscented Kalman filter (UKF) problem to be solved for systems involving model mismatches is described, after that, the necessary and sufficient condition with third order accurac...

2012
Mikio Bando Yukihiro Kawamata Toshiyuki Aoki M. BANDO Y. KAWAMATA T. AOKI

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...

Journal: :journal of artificial intelligence in electrical engineering 0

in the several past years, extended kalman filter (ekf) and unscented kalman filter (ukf) havebecame basic algorithm for state-variables and parameters estimation of discrete nonlinear systems.the ukf has consistently outperformed for estimation. sometimes least estimation error doesn't yieldwith ukf for the most nonlinear systems. in this paper, we use a new approach for a two variablesta...

2008
Jonathan Kelly

In this note, we illustrate the effect of nonlinear state propagation in the unscented Kalman filter (UKF). We consider a simple nonlinear system, consisting of a two-axis inertial measurement unit. Our intent is to show that the propagation of a set of sigma points through a nonlinear process model in the UKF can produce a counterintuitive (but correct) updated state estimate. We compare the r...

2005
K. Xiong C. W. Chan H. Y. Zhang

In this paper, the approximation of nonlinear systems using unscented Kalman filter (UKF) is discussed, and the conditions for the convergence of the UKF are derived. The detection of faults from residuals generated by the UKF is presented. As fault detection often reduced to detecting irregularities in the residuals, such as the mean, the local approach, a powerful statistical technique to det...

Journal: :Journal of the National Cancer Institute 2009
Tom Van Maerken Liesbeth Ferdinande Jasmien Taildeman Irina Lambertz Nurten Yigit Liesbeth Vercruysse Ali Rihani Martin Michaelis Jindrich Cinatl Claude A Cuvelier Jean-Christophe Marine Anne De Paepe Marc Bracke Frank Speleman Jo Vandesompele

BACKGROUND Restoring p53 function by antagonizing its interaction with the negative regulator MDM2 is an appealing nongenotoxic approach to treating tumors with wild-type p53. Mutational inactivation of p53 is rare in neuroblastoma tumors at diagnosis and occurs in only a subset of multidrug-resistant neuroblastomas. METHODS The antiproliferative and cytotoxic effect of nutlin-3, a small-mole...

2013
Seong Yun Cho Kyong-Ho Kim

© 2013 Munkhzul Enkhtur et al. 943 Instead of the extended Kalman filter, the unscented Kalman filter (UKF) has been used in nonlinear systems without initial accurate state estimates over the last decade because the UKF is robust against large initial estimation errors. However, in a multirate integrated system, such as an inertial navigation system (INS)/Global Positioning System (GPS) integr...

2016
Xiangyun Qing Hamid Reza Karimi Yugang Niu Xingyu Wang

A decentralized unscented Kalman filter (UKF) method based on a consensus algorithm for multi-area power system dynamic state estimation is presented in this paper. The overall system is split into a certain number of non-overlapping areas. Firstly, each area executes its own dynamic state estimation based on local measurements by using the UKF. Next, the consensus algorithm is required to perf...

2010
Peiling Cui Huijuan Zhang

In this paper, the problem of estimating the attitude of a micro-nano satellite, obtaining geomagnetic field measurements via a three-axis magnetometer and obtaining angle rate via gyro, is considered. For this application, a QMRPF-UKF master-slave filtering method is proposed, which uses the QMRPF and UKF algorithms to estimate the rotation quaternion and the gyro bias parameters, respectively...

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