scholarly journals Control Optimization of Stochastic Systems Based on Adaptive Correction CKF Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
FengJun Hu ◽  
Qian Zhang ◽  
Gang Wu
Keyword(s):  
Kalman Filter ◽  
Covariance Matrix ◽  
Stochastic System ◽  
Stochastic Systems ◽  
System Control ◽  
Time Varying ◽  
Cubature Kalman Filter ◽  
Adaptive Correction ◽  
Kalman Filter Algorithm ◽  
Control Accuracy

Standard cubature Kalman filter (CKF) algorithm has some disadvantages in stochastic system control, such as low control accuracy and poor robustness. This paper proposes a stochastic system control method based on adaptive correction CKF algorithm. Firstly, a nonlinear time-varying discrete stochastic system model with stochastic disturbances is constructed. The control model is established by using the CKF algorithm, the covariance matrix of standard CKF is optimized by square root filter, the adaptive correction of error covariance matrix is realized by adding memory factor to the filter, and the disturbance factors in nonlinear time-varying discrete stochastic systems are eliminated by multistep feedback predictive control strategy, so as to improve the robustness of the algorithm. Simulation results show that the state estimation accuracy of the proposed adaptive cubature Kalman filter algorithm is better than that of the standard cubature Kalman filter algorithm, and the proposed adaptive correction CKF algorithm has good control accuracy and robustness in the UAV control test.

Application of the auxiliary performance index for automatic optimality control of discrete Kalman filter

2020 ◽  
pp. 77-87
Author(s):  
Иннокентий Васильевич Семушин ◽  
Юлия Владимировна Цыганова ◽  
Андрей Владимирович Цыганов
Keyword(s):  
Kalman Filter ◽  
Adaptive Filter ◽  
Stochastic System ◽  
Performance Index ◽  
Stochastic Systems ◽  
Joint Control ◽  
Vector Parameter ◽  
Optimal Value ◽  
Roundoff Errors ◽  
Dynamic Stochastic

Предложен новый метод автоматического контроля оптимальности дискретного фильтра Калмана, основанный на равенстве нулю градиента вспомогательного функционала качества (ВФК) по параметрам адаптивного дискретного фильтра. Для вычисления градиента ВФК применяется численно устойчивый к ошибкам машинного округления алгоритм модифицированной взвешенной ортогонализации Грама-Шмидта (MWGS-ортогонализации). Алгоритм реализован на языке Matlab. Результаты проведенных численных экспериментов подтверждают эффективность предложенного метода The paper proposes a new method for automatic control of the nominal operating mode of a dynamic stochastic system, based on a combination of two previously developed methods: the auxiliary performance index (API) method and the LD modification of an adaptive filter numerically robust to roundoff errors. The API method was previously developed to solve the problems of identification, adaptation, and control of stochastic systems with control and filtering. We suggest using the API not only as a tool for identifying the parameters of the stochastic system model from the measurement data but also for automatically monitoring the optimality of the adaptive filter, namely, the condition that the API gradient is close to zero should be satisfied (with the necessity and sufficiency) at the point corresponding to the optimal value of the vector parameter in the adaptive Kalman filter. The main result is the new eLD-KF-AC algorithm (extended LD Kalman-like adaptive filtering algorithm with automatic optimality control). The advantages of the obtained solution are as follows: 1) the choice of the adaptive filter structure in the form of an extended LD algorithm can significantly reduce the effect of machine roundoff errors on the calculation results when supplemented by the ability to calculate the sensitivity functions by the system vector parameter of the adaptive filter; 2) the application of the API method allows controlling the optimality of the adaptive filter by the condition that the API gradient is zero at the minimum point, which corresponds to the optimal value of the parameter in the adaptive filter; 3) the calculation of the API gradient in the adaptive extended LD filter does not require significant computational costs and such a control method can be carried out in real-time. The results of the work will be applied to solving problems of joint control and identification of parameters in the class of discrete-time linear stochastic systems represented by equations in the state-space form.

scholarly journals PERAMALAN JUMLAH KUNJUNGAN WISATAWAN AUSTRALIA YANG BERKUNJUNG KE BALI MENGGUNAKAN MODEL TIME VARYING PARAMETER (TVP)

2016 ◽  
Vol 5 (3) ◽  
pp. 117
Author(s):  
I PUTU GEDE DIAN GERRY SUWEDAYANA ◽  
I WAYAN SUMARJAYA ◽  
NI LUH PUTU SUCIPTAWATI
Keyword(s):  
Kalman Filter ◽  
State Space Model ◽  
Percentage Error ◽  
Time Varying ◽  
Mean Square ◽  
Explanatory Variables ◽  
Space Model ◽  
A Value ◽  
Time Varying Parameter ◽  
Kalman Filter Algorithm

The purpose of this research is to forecast the number of Australian tourists arrival to Bali using Time Varying Parameter (TVP) model based on inflation of Indonesia and exchange rate AUD to IDR from January 2010 – December 2015 as explanatory variables. TVP model is specified in a state space model and estimated by Kalman filter algorithm. The result shows that the TVP model can be used to forecast the number of Australian tourists arrival to Bali because it satisfied the assumption that the residuals are distributed normally and the residuals in the measurement and transition equations are not correlated. The estimated TVP model is . This model has a value of mean absolute percentage error (MAPE) is equal to dan root mean square percentage error (RMSPE) is equal to . The number of Australian tourists arrival to Bali for the next five periods is predicted: ; ; ; ; and (January - May 2016).

scholarly journals Multi-Fading Factor and Update Monitoring Strategy Adaptive Kalman Filter Based Variational Bayesian with Inaccurate Time-Varying Process and Measure-Ment Noise Covariance Matrices

2020 ◽  
Author(s):  
Chenghao Shan ◽  
Weidong Zhou ◽  
Yefeng Yang ◽  
Zihao Jiang
Keyword(s):  
Kalman Filter ◽  
Covariance Matrix ◽  
Measurement Noise ◽  
Time Varying ◽  
Monitoring Strategy ◽  
Adaptive Kalman Filter ◽  
Variational Bayesian ◽  
Measurement Noise Covariance ◽  
Noise Covariance ◽  
Fading Factor

Aiming at the problem that the performance of Adaptive Kalman filter estimation will be affected when the statistical characteristics of the process and measurement noise matrix are inaccurate and time-varying in the linear Gaussian state-space model, an algorithm of Multi-fading factor and update monitoring strategy adaptive Kalman filter based variational Bayesian is proposed. Inverse Wishart distribution is selected as the measurement noise model, the system state vector and measurement noise covariance matrix are estimated with the variational Bayesian method. The process noise covariance matrix is estimated by the maximum a posteriori principle, and the update monitoring strategy with adjustment factors is used to maintain the positive semi-definite of the updated matrix. The above optimal estimation results are introduced as time-varying parameters into the multiple fading factors to improve the estimation accuracy of the one-step state predicted covariance matrix. The application of the proposed algorithm in target tracking is simulated. The results show that compared with the current filters, the proposed filtering algorithm has better accuracy and convergence performance, and realizes the simultaneous estimation of inaccurate time-varying process and measurement noise covariance matrices.

scholarly journals State estimation based on improved cubature Kalman filter algorithm

2020 ◽  
Vol 14 (5) ◽  
pp. 536-542 ◽  
Author(s):  
Jun Zhu ◽  
Bingchen Liu ◽  
Haixing Wang ◽  
Zihao Li ◽  
Zhe Zhang
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Cubature Kalman Filter ◽  
Kalman Filter Algorithm

scholarly journals An Improved SINS Alignment Method Based on Adaptive Cubature Kalman Filter

Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5509 ◽  
Author(s):  
Yonggang Zhang ◽  
Geng Xu ◽  
Xin Liu
Keyword(s):  
Kalman Filter ◽  
Covariance Matrix ◽  
Real Life ◽  
Covariance Matrices ◽  
The Body ◽  
Alignment Method ◽  
Initial Alignment ◽  
Noise Covariance Matrix ◽  
Cubature Kalman Filter ◽  
Noise Covariance

Initial alignment is critical and indispensable for the inertial navigation system (INS), which determines the initial attitude matrix between the reference navigation frame and the body frame. The conventional initial alignment methods based on the Kalman-like filter require an accurate noise covariance matrix of state and measurement to guarantee the high estimation accuracy. However, in a real-life practical environment, the uncertain noise covariance matrices are often induced by the motion of the carrier and external disturbance. To solve the problem of initial alignment with uncertain noise covariance matrices and a large initial misalignment angle in practical environment, an improved initial alignment method based on an adaptive cubature Kalman filter (ACKF) is proposed in this paper. By virtue of the idea of the variational Bayesian (VB) method, the system state, one step predicted error covariance matrix, and measurement noise covariance matrix of initial alignment are adaptively estimated together. Simulation and vehicle experiment results demonstrate that the proposed method can improve the accuracy of initial alignment compared with existing methods.

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