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    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:
    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:
    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:
    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
    Tytuł:
    Novel optimal recursive filter for state and fault estimation of linear stochastic systems with unknown disturbances
    Autorzy:
    Khémiri, K.
    Ben Hmida, F.
    Ragot, J.
    Gossa, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/930170.pdf
    Data publikacji:
    2011
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    filtracja Kalmana
    estymacja stanu
    zakłócenie nieznane
    system liniowy
    system dyskretno-czasowy
    Kalman filtering
    minimum variance estimation
    state estimation
    fault estimation
    unknown disturbances
    linear discrete time systems
    Opis:
    This paper studies recursive optimal filtering as well as robust fault and state estimation for linear stochastic systems with unknown disturbances. It proposes a new recursive optimal filter structure with transformation of the original system. This transformation is based on the singular value decomposition of the direct feedthrough matrix distribution of the fault which is assumed to be of arbitrary rank. The resulting filter is optimal in the sense of the unbiased minimum-variance criteria. Two numerical examples are given in order to illustrate the proposed method, in particular to solve the estimation of the simultaneous actuator and sensor fault problem and to make a comparison with the existing literature results.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 629-637
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    SMAC-FDI: A single model active fault detection and isolation system for unmanned aircraft
    Autorzy:
    Ducard, G. J. J.
    Powiązania:
    https://bibliotekanauki.pl/articles/331366.pdf
    Data publikacji:
    2015
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    fault detection
    fault isolation
    unmanned aerial vehicle
    Kalman filtering
    computationally efficient diagnosis system
    active fault diagnosis
    artificial excitation system
    detekcja uszkodzeń
    lokalizacja uszkodzeń
    bezzałogowiec
    filtracja Kalmana
    diagnostyka uszkodzeń
    układ wzbudzenia
    Opis:
    This article presents a single model active fault detection and isolation system (SMAC-FDI) which is designed to efficiently detect and isolate a faulty actuator in a system, such as a small (unmanned) aircraft. This FDI system is based on a single and simple aerodynamic model of an aircraft in order to generate some residuals, as soon as an actuator fault occurs. These residuals are used to trigger an active strategy based on artificial exciting signals that searches within the residuals for the signature of an actuator fault. Fault isolation is carried out through an innovative mechanism that does not use the previous residuals but the actuator control signals directly. In addition, the paper presents a complete parameter-tuning strategy for this FDI system. The novel concepts are backed-up by simulations of a small unmanned aircraft experiencing successive actuator failures. The robustness of the SMAC-FDI method is tested in the presence of model uncertainties, realistic sensor noise and wind gusts. Finally, the paper concludes with a discussion on the computational efficiency of the method and its ability to run on small microcontrollers.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2015, 25, 1; 189-201
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    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
      Wyświetlanie 1-10 z 10

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