相关论文: State and parameter estimation for retinal laser t…

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)…

The goal of target tracking is to estimate target position, velocity, and acceleration in real time using position data. This paper introduces a novel target-tracking technique that uses adaptive input and state estimation (AISE) for…

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…

In this paper, the well-known multiplicative extended Kalman filter (MEKF) is re-investigated for attitude estimation using vector observations. From the Lie group theory, it is shown that the attitude estimation model is group affine and…

Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…

We proposed a new estimation algorithm of extended Kalman filter (EKF) based on improved Thevenin model; Experiments were carried out to verify the validity with seven 4Ah lithium cobalt acid batteries in series. The experimental results…

This paper deals with the Tobit Kalman filtering (TKF) process when the measurements are correlated and censored. The case of interval censoring, i.e., the case of measurements which belong to some interval with given censoring limits, is…

This paper proposes new methodology for sequential state and parameter estimation within the ensemble Kalman filter. The method is fully Bayesian and propagates the joint posterior density of states and parameters over time. In order to…

Knowledge of remaining battery charge is fundamental to electric vehicle deployment. Accurate measurements of state-of-charge (SOC) cannot be directly obtained, and estimation methods must be used instead. This requires both a good model of…

Hilbert-Huang transform (HHT) has drawn great attention in power system analysis due to its capability to deal with dynamic signal and provide instantaneous characteristics such as frequency, damping, and amplitudes. However, its…

Recently, the Hilbert-Schmidt speed, as a special class of quantum statistical speed, has been reported to improve the interferometric phase in single-parameter quantum estimation. Here, we test this concept in the multiparameter scenario…

Kalman filter is a best linear unbiased state estimator. It is also comprehensible from the point view of the Bayesian estimation. However, this note gives a detailed derivation of Kalman filter from the mutual information perspective for…

One-shot pose estimation for tasks such as body joint localization, camera pose estimation, and object tracking are generally noisy, and temporal filters have been extensively used for regularization. One of the most widely-used methods is…

Multivariate time series data appear often as realizations of non-stationary processes where the covariance matrix or spectral matrix smoothly evolve over time. Most of the current approaches estimate the time-varying spectral properties…

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…

Recently, it has been demonstrated experimentally that adaptive estimation of a continuously varying optical phase provides superior accuracy in the phase estimate compared to static estimation. Here, we show that the mean-square error in…

When tracking a target particle that is interacting with nearest neighbors in a known way, positional data of the neighbors can be used to improve the state estimate. Effects of the accuracy of such positional data on the target track…

In this paper we consider the behavior of Kalman Filter state estimates in the case of distribution with heavy tails .The simulated linear state space models with Gaussian measurement noises were used. Gaussian noises in state equation are…

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…

In a recent methodological paper, we showed how to learn chaotic dynamics along with the state trajectory from sequentially acquired observations, using local ensemble Kalman filters. Here, we more systematically investigate the possibility…