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This note is devoted to deriving the measurement update of the geometric extended Kalman filter using the multiplicative extended Kalman filtering approach, resulting in the attitude estimator referred as geometric multiplicative extended…
Parameter-efficient fine-tuning (PEFT) techniques, such as prompts and adapters, are widely used in multi-modal tracking because they alleviate issues of full-model fine-tuning, including time inefficiency, high resource consumption,…
This paper presents an online linear model predictive control (MPC) framework for slew maneuvers that maintains star-tracker availability during ground-target tracking. The nonlinear rigid-body dynamics and geometric exclusion constraints…
While recent advances in machine learning have equipped Weather Foundation Models (WFMs) with substantial generalization capabilities across diverse downstream tasks, the escalating computational requirements associated with their expanding…
Satellite dynamics and tracking remain important challenges in the context of space exploration and communication systems. Accurate state estimation is essential to maintain reliable orbital motion and system performance. This paper…
Rendezvous and docking between a chaser spacecraft and an uncooperative target, such as an inoperative satellite, require synchronization between the chaser spacecraft and the target. In these scenarios, the chaser must estimate the…
We present a method of using classical wavelet based multiresolution analysis to separate scales in model and observations during data assimilation with the ensemble Kalman filter. In many applications, the underlying physics of a phenomena…
In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative…
To enhance the positioning and tracking performance of dynamic user equipment (UE) in wideband millimeter-wave (mmWave) systems, we propose a novel positioning error lower bound (PELB)-driven ping-pong positioning framework, where the base…
The Bootstrap Particle Filter (BPF) and the Ensemble Kalman Filter (EnKF) are two widely used methods for sequential Bayesian filtering: the BPF is asymptotically exact but can suffer from weight degeneracy, while the EnKF scales well in…
In this paper, the problem of sequential beam construction and adaptive channel estimation based on reduced rank (RR) Kalman filtering for frequency-selective massive multiple-input multiple-output (MIMO) systems employing single-carrier…
This paper presents a method for the joint detection and tracking of weak targets in automotive radars using the multi-frame track-before-detect (MF-TBD) procedure. Generally, target tracking in automotive radars is challenging due to radar…
Traditional tracking-by-detection systems typically employ Kalman filters (KF) for state estimation. However, the KF requires domain-specific design choices and it is ill-suited to handling non-linear motion patterns. To address these…
Theoretical interpretations of particle physics data, such as the determination of the Wilson coefficients of the Standard Model Effective Field Theory (SMEFT), often involve the inference of multiple parameters from a global dataset.…
The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inconsistent in the presence of unobservability under a group of…
Adequate therapeutic retinal laser irradiation needs to be adapted to the local absorption. This leads to time-consuming treatments as the laser power needs to be successively adjusted to avoid under- and overtreatment caused by too low or…
We study the mathematical properties of the Invariant Extended Kalman Filter (IEKF) when iterating on the measurement update step, following the principles of the well-known Iterated Extended Kalman Filter. This iterative variant of the…
Accurate estimation of noise parameters is critical for optimal filter performance, especially in systems where true noise parameter values are unknown or time-varying. This article presents a quaternion left-invariant extended Kalman…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
Finite element model updating is challenging because 1) the problem is oftentimes underdetermined while the measurements are limited and/or incomplete; 2) many combinations of parameters may yield responses that are similar with respect to…