相关论文: Sailing Towards Zero-Shot State Estimation using F…

Fifth-generation (5G) networks are expected to provide high-precision positioning estimation utilizing mmWave signals in urban and downtown areas. In such areas, 5G base stations (BSs) will be densely deployed, allowing for line-of-sight…

The development of tabular foundation models (TFMs) has accelerated in recent years, showing strong potential to outperform traditional ML methods for structured data. A key finding is that TFMs can be pretrained entirely on synthetic…

Several variations of the Kalman filter algorithm, such as the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), are widely used in science and engineering applications. In this paper, we introduce two algorithms of…

Navigation plays a vital role in the ability of autonomous surface and underwater platforms to complete their tasks. Most navigation systems apply a fusion between inertial sensors and other external sensors, such as global navigation…

The real-world applications in signal processing generally involve estimating the system state or parameters in nonlinear, non-Gaussian dynamic systems. The estimation problem may get even more challenging when there are physical…

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…

Consistent state estimation is challenging, especially under the epistemic uncertainties arising from learned (nonlinear) dynamic and observation models. In this work, we propose a set-based estimation algorithm, named Gaussian…

State estimation incorporates the feedback in optimization based advanced process control systems and is very important for the performance of model predictive control. We describe the extended Kalman filter, the unscented Kalman filter,…

Providing a metric of uncertainty alongside a state estimate is often crucial when tracking a dynamical system. Classic state estimators, such as the Kalman filter (KF), provide a time-dependent uncertainty measure from knowledge of the…

Although the unscented Kalman filter (UKF) is applicable to nonlinear systems, it turns out that, for linear systems, UKF does not specialize to the classical Kalman filter. This situation suggests that it may be advantageous to modify UKF…

The Gaussian process state-space models (GPSSMs) represent a versatile class of data-driven nonlinear dynamical system models. However, the presence of numerous latent variables in GPSSM incurs unresolved issues for existing variational…

This paper investigates the state estimation problem for unknown linear systems subject to both process and measurement noise. Based on a prior input-output trajectory sampled at a higher frequency and a prior state trajectory sampled at a…

Control performance of Unmanned Aerial Vehicles (UAVs) is directly affected by their ability to estimate their states accurately. With the increasing popularity of autonomous UAV solutions in real world applications, it is imperative to…

A computationally efficient method for online joint state inference and dynamical model learning is presented. The dynamical model combines an a priori known, physically derived, state-space model with a radial basis function expansion…

Quantitative remote sensing inversion aims to estimate continuous surface variables-such as biomass, vegetation indices, and evapotranspiration-from satellite observations, supporting applications in ecosystem monitoring, carbon accounting,…

Since the groundbreaking work of the Kalman filter in the 1960s, considerable effort has been devoted to various discrete time filters for dynamic state estimation, especially including dozens of different types of suboptimal…

Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to environmental and lighting conditions, or fusion of…

The extended Kalman filter (EKF) is a widely adopted method for sensor fusion in navigation applications. A crucial aspect of the EKF is the online determination of the process noise covariance matrix reflecting the model uncertainty. While…

Kalman filtering and smoothing algorithms are used in many areas, including tracking and navigation, medical applications, and financial trend filtering. One of the basic assumptions required to apply the Kalman smoothing framework is that…

Robust state estimation for highly dynamic motion of legged robots remains challenging, especially in dynamic, contact-rich scenarios. Traditional approaches often rely on binary contact states that fail to capture the nuances of partial…