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Tytuł:
Application Of Kalman Filter In Navigation Process Of Automated Guided Vehicles
Autorzy:
Śmieszek, M.
Dobrzańska, M.
Powiązania:
https://bibliotekanauki.pl/articles/221588.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
Kalman filtering
odometry
laser measurements
Opis:
In the paper an example of application of the Kalman filtering in the navigation process of automatically guided vehicles was presented. The basis for determining the position of automatically guided vehicles is odometry – the navigation calculation. This method of determining the position of a vehicle is affected by many errors. In order to eliminate these errors, in modern vehicles additional systems to increase accuracy in determining the position of a vehicle are used. In the latest navigation systems during route and position adjustments the probabilistic methods are used. The most frequently applied are Kalman filters.
Źródło:
Metrology and Measurement Systems; 2015, 22, 3; 443-454
0860-8229
Pojawia się w:
Metrology and Measurement Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Study of the effectiveness of different Kalman filtering methods and smoothers in object tracking based on simulation tests
Autorzy:
Malinowski, M.
Kwiecień, J.
Powiązania:
https://bibliotekanauki.pl/articles/106773.pdf
Data publikacji:
2014
Wydawca:
Politechnika Warszawska. Wydział Geodezji i Kartografii
Tematy:
Kalman filtering
smoother
extended Kalman filter
derivative-free filtering
Central Difference Kalman Filter
unscented Kalman filter
object tracing
filtr Kalmana
filtracja
rozszerzony filtr Kalmana
EKF
bezśladowy filtr Kalmana
UKF
śledzenie obiektu
Opis:
In navigation practice, there are various navigational architecture and integration strategies of measuring instruments that affect the choice of the Kalman filtering algorithm. The analysis of different methods of Kalman filtration and associated smoothers applied in object tracing was made on the grounds of simulation tests of algorithms designed and presented in this paper. EKF (Extended Kalman Filter) filter based on approximation with (jacobians) partial derivations and derivative-free filters like UKF (Unscented Kalman Filter) and CDKF (Central Difference Kalman Filter) were implemented in comparison. For each method of filtration, appropriate smoothers EKS (Extended Kalman Smoother), UKS (Unscented Kalman Smoother) and CDKS (Central Difference Kalman Smoother) were presented as well. Algorithms performance is discussed on the theoretical base and simulation results of two cases are presented.
Źródło:
Reports on Geodesy and Geoinformatics; 2014, 97; 1-22
2391-8365
2391-8152
Pojawia się w:
Reports on Geodesy and Geoinformatics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Multi-layered Bayesian Neural Networks for Simulation and Prediction Stress-Strain Time Series
Autorzy:
Krok, A.
Powiązania:
https://bibliotekanauki.pl/articles/308596.pdf
Data publikacji:
2015
Wydawca:
Instytut Łączności - Państwowy Instytut Badawczy
Tematy:
Bayesian neural networks
Kalman filtering
Opis:
The aim of the paper is to investigate the differences as far as the numerical accuracy is concerned between feedforward layered Artificial Neural Networks (ANN) learned by means of Kalman filtering (KF) and ANN learned by means of the evidence procedure for Bayesian technique. The stress-strain experimental time series for concrete hysteresis loops obtained by the experiment of cyclic loading is presented as considered example.
Źródło:
Journal of Telecommunications and Information Technology; 2015, 3; 45-51
1509-4553
1899-8852
Pojawia się w:
Journal of Telecommunications and Information Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Kalman filtering for 3d real time data visualization of multibeam sonar records
Autorzy:
Demkowicz, J.
Moszyński, M.
Powiązania:
https://bibliotekanauki.pl/articles/331515.pdf
Data publikacji:
2003
Wydawca:
Polskie Towarzystwo Akustyczne
Tematy:
Kalman filtering
sonar records
visualization
Opis:
For the last decade multibeam sonars have been increasingly used for mapping and visualization of the bottom surfaces to provide the 'physical bases' for environmental studies due to theirs unprecedentedly high resolution mapping ability. However, the raw sonar records are subject to systematic errors, random noise and outliers. In this paper Kalman filtering approach to generating optimal estimates of bottom surface from a noisy raw sonar records is presented. The experiment on the surface indicates that after applying the Kalman filtering technique the outliers of raw records can be efficiently detected and removed. Moreover in the same time, the two-step Kalman filtering method is applied, which aims to filter every multibeam sonar swath and enable 3D seabed visualization in real time. The 3D bottom relief before, and after the filtering method application is also presented.
Źródło:
Hydroacoustics; 2003, 6; 189-194
1642-1817
Pojawia się w:
Hydroacoustics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Road profile identification using estimation techniques: comparison between independent component analysis and Kalman filter
Autorzy:
Chaabane, Mariem Miladi
Ben Hassen, Dorra
Abbes, Mohamed Slim
Baslamisli, Selahattin Caglar
Chaari, Fakher
Haddar, Mohamed
Powiązania:
https://bibliotekanauki.pl/articles/281808.pdf
Data publikacji:
2019
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
road excitation
ICA
Kalman filtering
dentification techniques
vehicle model
Opis:
This paper focuses on the identification of a road profile disturbance acting on vehicles. Vehicles are subjected to many kinds of excitation sources such as road profile irregularities, which constitute a major area of interest when designing suspension systems. Indeed, determining the road profile is important for passive suspension design on the one hand and for determining an appropriate control law for active suspensions on the other. Direct measurement techniques of the road profile are expensive, so solutions based on estimation theory are needed. The aim of this paper is to characterize the road excitation using the Independent Component Analysis (ICA). This proposed method can reconstruct original excitation sources by using physically measurable signals of the system under study. Here, the estimation of road disturbances is considered as output sources and identified from dynamic responses of the vehicle. These responses can be measured via sensors or can be numerically computed. In our case, they are numerically simulated using the Newmark method and consider different types of road profiles. The obtained results are validated after using a comparison with the Kalman filtering. The robustness of the ICA is confirmed via parametric study.
Źródło:
Journal of Theoretical and Applied Mechanics; 2019, 57, 2; 397-409
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The new approach to hybrid Kalman filtering, based on the changed order of filters for state estimation of dynamical systems
Autorzy:
Michalski, Jacek
Kozierski, Piotr
Ziętkiewicz, Joanna
Powiązania:
https://bibliotekanauki.pl/articles/378067.pdf
Data publikacji:
2019
Wydawca:
Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej
Tematy:
state estimation
Kalman filtering
particle filtering
power system
quality indices
Opis:
The paper presents a new approach to Hybrid Kalman filtering, composed of Extended Kalman Filter and Unscented Kalman Filter. In known algorithms, the Unscented Kalman Filter algorithm is used as first and the result of this is given as an input to the Extended Kalman Filter. The authors checked modified Hybrid Kalman Filter with changed order of filters using theoretical object, which was created on the basis of power system. Besides traditional method, the modification of Hybrid Kalman Particle Filter was evaluated too. Results were compared with Extended Kalman Filter, Unscented Kalman Filter and Bootstrap Particle Filter. For particle filters the authors compared method estimation qualities for a different number of particles. The estimation quality was evaluated by three quality indices. Based on the obtained results, one can see that the changed order of methods in Hybrid Kalman filter can improve estimation quality.
Źródło:
Poznan University of Technology Academic Journals. Electrical Engineering; 2019, 97; 181-190
1897-0737
Pojawia się w:
Poznan University of Technology Academic Journals. Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Wybrane algorytmy wygładzania w aplikacjach nawigacyjnych
Selected smoothing algorithms in navigation applications
Autorzy:
Gil, R.
Kaniewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/152374.pdf
Data publikacji:
2014
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
nawigacja
ocena stanu
wygładzanie
filtracja Kalmana
navigation
state estimation
smoothing
Kalman filtering
Opis:
W artykule przedstawiono wyniki badań algorytmów wygładzania w układzie liniowym dyskretnym. Przeprowadzone badania pozwoliły na wyznaczenie błędów średniokwadratowych (RMS) położenia dla systemu z filtrem Kalmana oraz optymalnym estymatorem wygładzającym. Zaprezentowano jakościową poprawę, redukcję błędu RMS, oceny stanu układu wynikającą z zastosowania wygładzania. Przeprowadzone badania potwierdziły wartość użytkową algorytmów wygładzania.
The paper presents the results of testing smoothing algorithms for a linear discrete system. Three types of smoothing algorithms are analyzed in the paper: fixed-interval smoothing, fixed-point smoothing, fixed-lag smoothing. The performance of the above smoothing algorithms was experimentally tested for a selected system model. There was assumed the dynamics model called in the literature as PVA (Position-Velocity-Acceleration). It describes the rate of change in the position, velocity and acceleration of the object in time. The research allowed determining the root mean square errors (RMS) of the position for a system with Kalman filter and the optimal smoothing estimator. It was shown that the use of smoothing improved the estimation of the state of the system significantly. The quality improvement, that is the decrease in the RMS errors of the system state estimates as a result of using smoothing algorithms, is presented in the paper. The investigations performed proved the usefulness of smoothing algorithms. The obtained results allowed determining the level of improvement in the state estimation when using the optimal smoothing estimators. Moreover, there was shown the improvement in the estimation accuracy with the increase in the time interval between the instants of state estimation and measurement.
Źródło:
Pomiary Automatyka Kontrola; 2014, R. 60, nr 9, 9; 726-728
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Linear quadratic power control for CDMA systems
Autorzy:
Anderson, M.D.
Perreau, S.
White, L.B.
Powiązania:
https://bibliotekanauki.pl/articles/307733.pdf
Data publikacji:
2003
Wydawca:
Instytut Łączności - Państwowy Instytut Badawczy
Tematy:
CDMA
CDMA systems
power control
Kalman filtering
channel estimation
linear quadratic control systems
Opis:
In this paper, we present a robust decentralized method for jointly performing channel estimation and closed loop power control for the reverse link of CDMA networks. Our method, based on linear quadratic Gaussian (LQG) control systems theory and Kalman filtering, does not require any training symbols for channel or signal to interference ratio (SIR) estimation. The main interest of this new scheme is that it improves the performance of current SIR based power control techniques while avoiding the problem of power escalation, which is often observed in current systems.
Źródło:
Journal of Telecommunications and Information Technology; 2003, 2; 48-54
1509-4553
1899-8852
Pojawia się w:
Journal of Telecommunications and Information Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Niskokosztowe sensory MEMS w systemach nawigacji inercyjnej
Low-cost MEMS sensors for inertial navigation systems
Autorzy:
Sawicki, M.
Sondej, T.
Powiązania:
https://bibliotekanauki.pl/articles/158117.pdf
Data publikacji:
2012
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
systemy pozycjonowania
nawigacja inercyjna
sensory MEMS
filtracja Kalmana
position systems
inertial navigation
MEMS sensors
Kalman filtering
Opis:
W artykule zaprezentowano system pozycjonowania zbudowany przy użyciu sensorów nawigacji inercyjnej (INS) oraz odbiornika GPS. Jako czujniki inercyjne zastosowano niskokosztowe, powszechnie dostępne akcelerometry i żyroskopy wykonane w technologii MEMS. Omówiono sposób kalibracji akcelerometru oraz metody przetwarzania sygnałów z sensorów MEMS. Przedstawiono również wyniki przeprowadzonych badań eksperymentalnych.
The paper presents a positioning system with GPS and inertial sensors. The system is based on commercial solutions described in [1, 3]. The designed system consists of a GPS receiver, a MEMS accelerometer, a MEMS gyroscope, an electronic compass and a pressure sensor. Data processing was carried out by use of a microcontroller with ARM Cortex-M3 core. Designated positions are recorded on a microSD memory card and transmitted by the UART interface according to the NMEA standard. The experimental tests consisting in driving on city roads were performed. The measurement results were recorded directly from the GPS receiver and the system output. Characteristic places such as a tunnel or railway traction were analysed. The results obtained show that MEMS sensors improve the accuracy of determining the position during short-term GPS signal outages. They allow setting the positions more accurately in difficult terrain such as dense urban areas and underground tunnels. In addition, application of low-cost sensors gives a possibility to use the system in popular car navigation systems or mobile phones.
Źródło:
Pomiary Automatyka Kontrola; 2012, R. 58, nr 8, 8; 701-703
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Models of DP systems in full mission ship simulator
Modele systemów dynamicznego pozycjonowania w wielozadaniowym symulatorze statku
Autorzy:
Zalewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/359467.pdf
Data publikacji:
2010
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
symulator statku
systemy DP
filtracja Kalmana
modelowanie systemów
ship's simulator
DP systems
Kalman filtering
systems modelling
Opis:
The paper presents modelling principles of DP systems integrated into the modernized full mission ship simulator of Kongsberg Polaris® type at Maritime University of Szczecin. Comparisons to real systems and research possibilities are given. Basing on the effects and conclusions obtained from scientific-research works performed by marine traffic engineering staff until now, the advantages of modernization of "full mission simulator" have been shown.
W artykule przedstawiono modele systemów dynamicznego pozycjonowania (DP) w wielozadaniowym symulatorze statku typu Kongsberg Polaris® w Akademii Morskiej w Szczecinie. Zaprezentowano porównania z rzeczywistymi systemami i możliwości badawcze. Na podstawie rezultatów dotychczasowych prac naukowo-badawczych realizowanych w Instytucie Inżynierii Ruchu Morskiego AM w Szczecinie przedstawiono zalety modernizacji wielozadaniowego symulatora manewrowo-nawigacyjnego statku.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2010, 20 (92); 146-152
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The application of Kalman filtering to predict vertical rail axis displacements of the overhead crane being a component of seaport transport structure
Autorzy:
Filipiak–Kowszyk, D.
Kamiński, W.
Powiązania:
https://bibliotekanauki.pl/articles/260026.pdf
Data publikacji:
2016
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
operational safety of the crane
rectification corrections
parametric method with conditions imposed on parameters
prediction
Kalman filtering
Opis:
As the devices designed to transport materials, the overhead cranes should meet certain geometric requirements for their operation to be safe. The presently available geodetic equipment, in particular total stations, provides opportunities for precise 3D measurements of coordinates of the controlled points. These coordinates make a basis for correcting the height of crane runway axes. The paper presents a method to calculate position corrections for the crane rail axes in both vertical and horizontal direction, and indicates that these results can find much wider application. Among other goals, the observations of this type, along with the Kalman filtration method, can be used to predict vertical displacements of the crane rail axes. The object of practical considerations in the paper is a crane working in the area with unfavourable geotechnical conditions and the settling limits attributed to this crane and location area in the technical design. The sample practical application has confirmed the validity of the use of the proposed solution for evaluating the operational safety of the crane. Although the tests were performed for the gantry crane, the proposed solution is believed to be applicable for other types of overhead cranes.
Źródło:
Polish Maritime Research; 2016, 2; 64-70
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A cooperative positioning algorithm for DSRC enabled vehicular networks
Autorzy:
Efatmaneshnik, M.
Kealy, A.
Alam, N.
Dempster, A.
Powiązania:
https://bibliotekanauki.pl/articles/129825.pdf
Data publikacji:
2011
Wydawca:
Stowarzyszenie Geodetów Polskich
Tematy:
DSRC
Vanet
cooperative positioning
ranging
time of arrival
CRLB
Kalman filtering
robust positioning
pozycjonowanie
godzina przyjazdu
filtracja Kalmana
Opis:
Many of the safety related applications that can be facilitated by Dedicated Short Range Communications (DSRC), such as vehicle proximity warnings, automated braking (e.g. at level crossings), speed advisories, pedestrian alerts etc., rely on a robust vehicle positioning capability such as that provided by a Global Navigation Satellite System (GNSS). Vehicles in remote areas, entering tunnels, high rise areas or any high multipath/ weak signal environment will challenge the integrity of GNSS position solutions, and ultimately the safety application it underpins. To address this challenge, this paper presents an innovative application of Cooperative Positioning techniques within vehicular networks. CP refers to any method of integrating measurements from different positioning systems and sensors in order to improve the overall quality (accuracy and reliability) of the final position solution. This paper investigates the potential of the DSRC infrastructure itself to provide an intervehicular ranging signal that can be used as a measurement within the CP algorithm. In this paper, time-based techniques of ranging are introduced and bandwidth requirements are investigated and presented. The robustness of the CP algorithm to inter-vehicle connection failure as well as GNSS dropouts is also demonstrated using simulation studies. Finally, the performance of the Constrained Kalman Filter used to integrate GNSS measurements with DSRC derived range estimates within a typical VANET is described and evaluated.
Źródło:
Archiwum Fotogrametrii, Kartografii i Teledetekcji; 2011, 22; 117-129
2083-2214
2391-9477
Pojawia się w:
Archiwum Fotogrametrii, Kartografii i Teledetekcji
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Model-based techniques for virtual sensing of longitudinal flight parameters
Autorzy:
Hardier, G.
Seren, C.
Ezerzere, P.
Powiązania:
https://bibliotekanauki.pl/articles/330954.pdf
Data publikacji:
2015
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
model based estimation
fault detection
virtual sensor
Kalman filtering
surrogate modelling
estymacja modelu
detekcja uszkodzeń
sensor wirtualny
filtracja Kalmana
Opis:
Introduction of fly-by-wire and increasing levels of automation significantly improve the safety of civil aircraft, and result in advanced capabilities for detecting, protecting and optimizing A/C guidance and control. However, this higher complexity requires the availability of some key flight parameters to be extended. Hence, the monitoring and consolidation of those signals is a significant issue, usually achieved via many functionally redundant sensors to extend the way those parameters are measured. This solution penalizes the overall system performance in terms of weight, maintenance, and so on. Other alternatives rely on signal processing or model-based techniques that make a global use of all or part of the sensor data available, supplemented by a model-based simulation of the flight mechanics. That processing achieves real-time estimates of the critical parameters and yields dissimilar signals. Filtered and consolidated information is delivered in unfaulty conditions by estimating an extended state vector, including wind components, and can replace failed signals in degraded conditions. Accordingly, this paper describes two model-based approaches allowing the longitudinal flight parameters of a civil A/C to be estimated on-line. Results are displayed to evaluate the performances in different simulated and real flight conditions, including realistic external disturbances and modeling errors.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2015, 25, 1; 23-38
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Asynchronous distributed state estimation for continuous-time stochastic processes
Autorzy:
Kowalczuk, Z.
Domżalski, M.
Powiązania:
https://bibliotekanauki.pl/articles/331193.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
continuous time
stochastic processes
distributed system
state estimation
Kalman filtering
układ ciągły
układ stochastyczny
system rozproszony
estymacja stanu
filtracja Kalmana
Opis:
The problem of state estimation of a continuous-time stochastic process using an Asynchronous Distributed multi-sensor Estimation (ADE) system is considered. The state of a process of interest is estimated by a group of local estimators constituting the proposed ADE system. Each estimator is based, e.g., on a Kalman filter and performs single sensor filtration and fusion of its local results with the results from other/remote processors to compute possibly the best state estimates. In performing data fusion, however, two important issues need to be addressed namely, the problem of asynchronism of local processors and the issue of unknown correlation between asynchronous data in local processors. Both the problems, along with their solutions, are investigated in this paper. Possible applications and effectiveness of the proposed ADE approach are illustrated by simulated experiments, including a non-complete connection graph of such a distributed estimation system.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2013, 23, 2; 327-339
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sensitivity analysis of multiple fault test and reliability measures in integrated GPS/INS systems
Autorzy:
Almagbile, A.
Wang, J.
Ding, W.
Knight, N.
Powiązania:
https://bibliotekanauki.pl/articles/130262.pdf
Data publikacji:
2011
Wydawca:
Stowarzyszenie Geodetów Polskich
Tematy:
GPS/INS integration
Kalman filtering
multiple faults
reliability measures
sensitivity analysis
integracja systemów GPS/INS
filtracja Kalmana
uszkodzenia wielokrotne
miary niezawodności
analiza wrażliwościowa
Opis:
Based on Kalman filtering, multi-sensor navigation systems, such as the integrated GPS/INS system, are widely accepted to enhance the navigation solution for various applications. However, such integrated systems do not always provide robust and stable navigation solutions due to unmodelled measurements and system dynamic errors, such as faults that degrade the performance of Kalman filtering for such integration. Single fault detection methods based on least squares (snapshot) method were investigated extensively in the literature and found effective to detect the fault at either sensor level or integration level. However, the system might be contaminated by multiple faults simultaneously. Thus, there is an increased likelyhood that some of the faults may not be detected and identified correctly. This will degrade the accuracy of positioning. In this paper multiple fault test and reliability measures based on a snapshot method were implemented in both the measurement model and the predicted states model for use in a GPS/INS integration system. The influences of the correlation coefficients between fault test statistics on the performances of the faults test and reliability measures were also investigated. The results indicate that the multiple fault test and reliability measures can perform more effectively in the measurement model than the predicted states model due to weak geometric strength within the predicted states model.
Źródło:
Archiwum Fotogrametrii, Kartografii i Teledetekcji; 2011, 22; 25-37
2083-2214
2391-9477
Pojawia się w:
Archiwum Fotogrametrii, Kartografii i Teledetekcji
Dostawca treści:
Biblioteka Nauki
Artykuł
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