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Geometry of the state space is known to play a crucial role in many applications of Kalman filters, especially robotics and motion tracking. The Lie group-centric approach is currently very common, although a Riemannian approach has also…
This paper studies the optimal state estimation for a dynamic system, whose transfer function can be nonlinear and the input noise can be of arbitrary distribution. Our algorithm differs from the conventional extended Kalman filter (EKF)…
This paper is considered with joint estimation of state and time-varying noise covariance matrices in non-linear stochastic state space models. We present a variational Bayes and Gaussian filtering based algorithm for efficient computation…
Latent force models (LFM) are principled approaches to incorporating solutions to differential equations within non-parametric inference methods. Unfortunately, the development and application of LFMs can be inhibited by their computational…
The state-space model and the Kalman filter provide us with unified and computationaly efficient procedure for computing the log-likelihood of the diverse type of time series models. This paper presents an algorithm for computing the…
To obtain the accurate transient states of the big scale natural gas pipeline networks under the bad data and non-zero mean noises conditions, a robust Kalman filter-based dynamic state estimation method is proposed using the linearized gas…
This paper presents a novel adaptive fading cubature Kalman filter (AFCKF) based on double transitive factors. The developed adaptive algorithm is explained in two stages; stage (i) a single transitive factor is used to update the predicted…
In this paper, we consider the task of designing a Kalman Filter (KF) for an unknown and partially observed autonomous linear time invariant system driven by process and sensor noise. To do so, we propose studying the following two step…
Precise measurement of frequency sensitivity coefficients (FSCs) of some physical effects contributing to uncertainty is an important work in type-B uncertainty (u_B) evaluation of atomic frequency standards. We proposed a method based on…
Achieving highly accurate dynamic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regulators), model-based trajectory planning (e.g., trajectory…
We introduce a noise-aware extension to the parametric maximum-likelihood framework for component separation by modeling correlated $1/f^\alpha$ noise as a harmonic-space power law. This approach addresses a key limitation of existing…
The large number of possible structures of metal-organic frameworks (MOFs) and their limitless potential applications has motivated molecular modelers and researchers to develop methods and models to efficiently assess MOF performance. Some…
This paper addresses state of charge (SOC) estimation for lithium iron phosphate (LFP) batteries, where the relatively flat open-circuit voltage (OCV-SOC) characteristic reduces observability. A residual bias compensation dual extended…
Hollow-core fibers offer superior loss and latency characteristics compared to solid-core alternatives, yet the geometric complexity of nested antiresonance nodeless fibers (NANFs) makes traditional optimization computationally prohibitive.…
In this paper is proposed a novel incremental iterative Gauss-Newton-Markov-Kalman filter method for state estimation of dynamic models given noisy measurements. The mathematical formulation of the proposed filter is based on the…
The input-parameter-state estimation capabilities of a novel unscented Kalman filter is examined herein on both linear and nonlinear systems. The unknown input is estimated in two stages within each time step. Firstly, the predicted dynamic…
We construct the equation of state (EOS) of dense matter covering a wide range of temperature, proton fraction, and density for the use of core-collapse supernova simulations. The study is based on the relativistic mean-field (RMF) theory,…
The ensemble Kalman filter (EnKF) is widely used for nonlinear and high-dimensional state estimation because it replaces complex covariance propagation with simple ensemble statistics. However, conventional EnKF implementations can become…
Predicting the behavior of a dynamical system from noisy observations of its past outputs is a classical problem encountered across engineering and science. For linear systems with Gaussian inputs, the Kalman filter -- the best linear…
In the detection of gravitational waves in space, during the science phase of the mission, the point ahead angle mechanism (PAAM) serves to steer a laser beam to compensate for the angle generated by the relative motion of the two…