Incremental unscented Kalman filter for real-time traffic estimation on motorways using multi-source data

2021 ◽  
pp. 1-27
Author(s):  
Xuan-Sy Trinh ◽  
Dong Ngoduy ◽  
Mehdi Keyvan-Ekbatani ◽  
Blair Robertson
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Unscented Kalman Filter ◽  
Real Time Traffic ◽  
Source Data ◽  
Traffic Estimation

scholarly journals Huber-Based Robust Unscented Kalman Filter Distributed Drive Electric Vehicle State Observation

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 750
Author(s):  
Wenkang Wan ◽  
Jingan Feng ◽  
Bao Song ◽  
Xinxin Li
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Degrees Of Freedom ◽  
Unscented Kalman Filter ◽  
State Parameter ◽  
State Observation ◽  
Straight Line ◽  
Distributed Drive Electric Vehicle ◽  
Huber Method ◽  
Yaw Moment

Accurate and real-time acquisition of vehicle state parameters is key to improving the performance of vehicle control systems. To improve the accuracy of state parameter estimation for distributed drive electric vehicles, an unscented Kalman filter (UKF) algorithm combined with the Huber method is proposed. In this paper, we introduce the nonlinear modified Dugoff tire model, build a nonlinear three-degrees-of-freedom time-varying parametric vehicle dynamics model, and extend the vehicle mass, the height of the center of gravity, and the yaw moment of inertia, which are significantly influenced by the driving state, into the vehicle state vector. The vehicle state parameter observer was designed using an unscented Kalman filter framework. The Huber cost function was introduced to correct the measured noise and state covariance in real-time to improve the robustness of the observer. The simulation verification of a double-lane change and straight-line driving conditions at constant speed was carried out using the Simulink/Carsim platform. The results show that observation using the Huber-based robust unscented Kalman filter (HRUKF) more realistically reflects the vehicle state in real-time, effectively suppresses the influence of abnormal error and noise, and obtains high observation accuracy.

Real-Time Signal Denoising Algorithm in Wheel Force Transducer

2014 ◽  
Vol 615 ◽  
pp. 244-247
Author(s):  
Dong Wang ◽  
Guo Yu Lin ◽  
Wei Gong Zhang
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Extended Kalman Filter ◽  
Unscented Kalman Filter ◽  
Force Transducer ◽  
Time Signal ◽  
Signal Denoising ◽  
Observation Function ◽  
Simulation Results ◽  
Wheel Force Transducer

The wheel force transducer (WFT) is used to measure dynamic wheel loads. Unlike other force sensors, WFT is rotating with the wheel. For this reason, the outputs and the inputs of the transducer are nonlinearly related, and traditional Kalman Filter is not suitable. In this paper, a new real-time filter algorithm utilizing Quadrature Kalman Filter (QKF) is proposed to solve this problem. In Quadrature Kalman Filter, Singer model is introduced to track the wheel force, and the observation function is established for WFT. The simulation results illustrate that the new filter outperforms the traditional Unscented Kalman Filter (UKF) and Extended Kalman Filter (EKF).

Think Like A Graph: Real-Time Traffic Estimation at City-Scale

2019 ◽  
Vol 18 (10) ◽  
pp. 2446-2459 ◽  
Author(s):  
Zhidan Liu ◽  
Pengfei Zhou ◽  
Zhenjiang Li ◽  
Mo Li
Keyword(s):  
Real Time ◽  
Real Time Traffic ◽  
Traffic Estimation

scholarly journals RealTE: Real-time Trajectory Estimation Over Large-Scale Road Networks

2022 ◽  
Author(s):  
Qibin Zhou ◽  
Qingang Su ◽  
Dingyu Yang
Keyword(s):  
Travel Time ◽  
Real Time ◽  
High Speed ◽  
Road Network ◽  
Large Scale ◽  
Road Networks ◽  
Trajectory Data ◽  
Real Time Traffic ◽  
Histogram Estimation ◽  
Traffic Estimation

Real-time traffic estimation focuses on predicting the travel time of one travel path, which is capable of helping drivers selecting an appropriate or favor path. Statistical analysis or neural network approaches have been explored to predict the travel time on a massive volume of traffic data. These methods need to be updated when the traffic varies frequently, which incurs tremendous overhead. We build a system RealTER⁢e⁢a⁢l⁢T⁢E, implemented on a popular and open source streaming system StormS⁢t⁢o⁢r⁢m to quickly deal with high speed trajectory data. In RealTER⁢e⁢a⁢l⁢T⁢E, we propose a locality-sensitive partition and deployment algorithm for a large road network. A histogram estimation approach is adopted to predict the traffic. This approach is general and able to be incremental updated in parallel. Extensive experiments are conducted on six real road networks and the results illustrate RealTE achieves higher throughput and lower prediction error than existing methods. The runtime of a traffic estimation is less than 11 seconds over a large road network and it takes only 619619 microseconds for model updates.

scholarly journals Orbit Propagation and Determination of Low Earth Orbit Satellites

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Ho-Nien Shou
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Unscented Kalman Filter ◽  
Estimation Method ◽  
Nonlinear Problems ◽  
Low Earth Orbit ◽  
Earth Orbit ◽  
Positioning Accuracy ◽  
Orbit Propagation

This paper represents orbit propagation and determination of low Earth orbit (LEO) satellites. Satellite global positioning system (GPS) configured receiver provides position and velocity measures by navigating filter to get the coordinates of the orbit propagation (OP). The main contradictions in real-time orbit which is determined by the problem are orbit positioning accuracy and the amount of calculating two indicators. This paper is dedicated to solving the problem of tradeoffs. To plan to use a nonlinear filtering method for immediate orbit tasks requires more precise satellite orbit state parameters in a short time. Although the traditional extended Kalman filter (EKF) method is widely used, its linear approximation of the drawbacks in dealing with nonlinear problems was especially evident, without compromising Kalman filter (unscented Kalman Filter, UKF). As a new nonlinear estimation method, it is measured at the estimated measurements on more and more applications. This paper will be the first study on UKF microsatellites in LEO orbit in real time, trying to explore the real-time precision orbit determination techniques. Through the preliminary simulation results, they show that, based on orbit mission requirements and conditions using UKF, they can satisfy the positioning accuracy and compute two indicators.

scholarly journals Application of Kalman Filtering Methods to Online Real-Time Structural Identification: A Comparison Study

2016 ◽  
Vol 16 (06) ◽  
pp. 1550016 ◽  
Author(s):  
Mohsen Askari ◽  
Jianchun Li ◽  
Bijan Samali
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Unscented Kalman Filter ◽  
Structural Parameters ◽  
Measurement Data ◽  
Linear Structure ◽  
Structural Identification ◽  
Input Output ◽  
Output Measurement ◽  
Highly Nonlinear

System identification refers to the process of building or improving mathematical models of dynamical systems from the observed experimental input–output data. In the area of civil engineering, the estimation of the integrity of a structure under dynamic loadings and during service condition has become a challenge for the engineering community. Therefore, there has been a great deal of attention paid to online and real-time structural identification, especially when input–output measurement data are contaminated by high-level noise. Among real-time identification methods, one of the most successful and widely used algorithms for estimation of system states and parameters is the Kalman filter and its various nonlinear extensions such as extended Kalman filter (EKF), Iterated EKF (IEKF), the recently developed unscented Kalman filter (UKF) and Iterated UKF (IUKF). In this paper, an investigation has been carried out on the aforementioned techniques for their effectiveness and efficiencies through a highly nonlinear single degree of freedom (SDOF) structure as well as a two-storey linear structure. Although IEKF is an improved version of EKF, results show that IUKF generally produces better results in terms of structural parameters and state estimation than UKF and IEKF. Also IUKF is more robust to noise levels compared to the other approaches.

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