scholarly journals Determination of Process Noise for Underwater Target Tracking with Forward Looking Sonar

2021 ◽  
Vol 13 (5) ◽  
pp. 1014
Author(s):  
Witold Kazimierski ◽  
Grzegorz Zaniewicz
Keyword(s):  
Theoretical Analysis ◽  
Target Tracking ◽  
Process Model ◽  
Specific Area ◽  
Measurement Model ◽  
Process Noise ◽  
Underwater Target ◽  
Definition Of ◽  
Empirical Experiment ◽  
Forward Looking

Target tracking is a process that provides information about targets in a specific area and is one of the key issues affecting the safety of any vehicle navigating in water. The main sensor used for underwater target tracking is sonar, with one of the most popular configurations being forward looking sonar (FLS). The target tracking state vector is usually estimated with the use of numerical filter algorithms, such as the Kalman filter (KF) and its modification, or the particle filter (PF). This requires the definition of a process model, including process noise, and a measurement model. This study focused on process noise definition. It is usually implemented as Gaussian noise, with a covariance matrix defined by the author. An analytical and empirical analysis was conducted, including a verification of the existing approaches and a survey of the published literature. Additionally, a theoretical analysis of the factors influencing process noise was conducted, which was followed by an empirical verification. The results were discussed, leading to the conclusions. The results of the theoretical analysis were confirmed by the empirical experiment and the results were compared with commonly used values of process noise in underwater target tracking processes.

scholarly journals Underwater Target Tracking Using Forward-Looking Sonar for Autonomous Underwater Vehicles

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 102 ◽  
Author(s):  
Tiedong Zhang ◽  
Shuwei Liu ◽  
Xiao He ◽  
Hai Huang ◽  
Kangda Hao
Keyword(s):  
Target Tracking ◽  
Autonomous Underwater Vehicles ◽  
Region Growing ◽  
Underwater Vehicles ◽  
Generalized Regression Neural Network ◽  
Cluttered Environments ◽  
Online Processing ◽  
Underwater Target ◽  
Region Growing Segmentation ◽  
Forward Looking

In the scenario where autonomous underwater vehicles (AUVs) carry out tasks, it is necessary to reliably estimate underwater-moving-target positioning. While cameras often give low-precision visibility in a limited field of view, the forward-looking sonar is still an attractive method for underwater sensing, which is especially effective for long-range tracking. This paper describes an online processing framework based on forward-looking-sonar (FLS) images, and presents a novel tracking approach based on a Gaussian particle filter (GPF) to resolve persistent multiple-target tracking in cluttered environments. First, the character of acoustic-vision images is considered, and methods of median filtering and region-growing segmentation were modified to improve image-processing results. Second, a generalized regression neural network was adopted to evaluate multiple features of target regions, and a representation of feature subsets was created to improve tracking performance. Thus, an adaptive fusion strategy is introduced to integrate feature cues into the observation model, and the complete procedure of underwater target tracking based on GPF is displayed. Results obtained on a real acoustic-vision AUV platform during sea trials are shown and discussed. These showed that the proposed method is feasible and effective in tracking targets in complex underwater environments.

Evolution and Nature of the Concept of Motivation

2020 ◽  
Vol 26 (2) ◽  
pp. 170-175
Author(s):  
Grigor Grigorov
Keyword(s):  
Theoretical Analysis ◽  
Military Profession ◽  
Definition Of ◽  
The Military

AbstractThis report examines the evolution and nature of the concept of motivation. It performs a theoretical analysis of the definitions of motivation and attempts to give a scientific definition of the phenomenon of motivation for practising the military profession. The results of the analysis will enable commanders to understand more clearly military motivation in order to effectively manage their subordinates.

Systematic Literature Review on Smart Mobility: A Framework for Future “Quantitative” Developments

2021 ◽  
pp. 088541222199424
Author(s):  
Mauro Francini ◽  
Lucia Chieffallo ◽  
Annunziata Palermo ◽  
Maria Francesca Viapiana
Keyword(s):  
Cluster Analysis ◽  
Literature Review ◽  
Systematic Literature Review ◽  
Performance Indicators ◽  
State Of The Art ◽  
Measurement Model ◽  
Broader Impacts ◽  
Research Goal ◽  
Smart Mobility ◽  
Definition Of

This work aims to reorganize theoretical and empirical research on smart mobility through the systematic literature review approach. The research goal is to reach an extended and shared definition of smart mobility using the cluster analysis. The article provides a summary of the state of the art that can have broader impacts in determining new angles for approaching research. In particular, the results will be a reference for future quantitative developments for the authors who are working on the construction of a territorial measurement model of the smartness degree, helping them in identifying performance indicators consistent with the definition proposed.

scholarly journals Novel MARG-Sensor Orientation Estimation Algorithm Using Fast Kalman Filter

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Siwen Guo ◽  
Jin Wu ◽  
Zuocai Wang ◽  
Jide Qian
Keyword(s):  
Kalman Filter ◽  
Process Model ◽  
Attitude Determination ◽  
Angular Rate ◽  
Estimation Algorithm ◽  
Measurement Model ◽  
Estimation Accuracy ◽  
Orientation Estimation ◽  
Kinematic Equation ◽  
Sensor Orientation

Orientation estimation from magnetic, angular rate, and gravity (MARG) sensor array is a key problem in mechatronic-related applications. This paper proposes a new method in which a quaternion-based Kalman filter scheme is designed. The quaternion kinematic equation is employed as the process model. With our previous contributions, we establish the measurement model of attitude quaternion from accelerometer and magnetometer, which is later proved to be the fastest (computationally) one among representative attitude determination algorithms of such sensor combination. Variance analysis is later given enabling the optimal updating of the proposed filter. The algorithm is implemented on real-world hardware where experiments are carried out to reveal the advantages of the proposed method with respect to conventional ones. The proposed approach is also validated on an unmanned aerial vehicle during a real flight. Results show that the proposed one is faster than any other Kalman-based ones and even faster than some complementary ones while the attitude estimation accuracy is maintained.

Decision fusion algorithm for target tracking in forward-looking infrared imagery

2004 ◽  
Author(s):  
Amer Dawoud ◽  
Mohammad S. Alam ◽  
Abdullah Bal ◽  
Chey H. Loo
Keyword(s):  
Target Tracking ◽  
Decision Fusion ◽  
Infrared Imagery ◽  
Fusion Algorithm ◽  
Forward Looking

Influence of inter-organizational relations on methods of calculating the cost of production of agricultural organizations

2020 ◽  
pp. 13-20 ◽  
Author(s):  
Anastasiya Alekseevna Romanova
Keyword(s):  
Theoretical Analysis ◽  
Cost Calculation ◽  
Interorganizational Cooperation ◽  
Organizational Relations ◽  
Interorganizational Management ◽  
Calculation System ◽  
Analytical System ◽  
Definition Of ◽  
The Cost ◽  
Organizational Cooperation

The author’s definition of inter-organizational cooperation, interorganizational management accounting and inter-organizational accounting and analytical system and cost calculation system in the framework of inter-organizational relations is given in the article on the basis of theoretical analysis. The features of calculating the cost of interorganizational cooperation are defined, new accounting practices are described, the advantages of implementing this type of accounting are identified, and possible problem areas are identified.

HISTORICAL STAGES OF THE «TERRORISM» CONCEPT FORMATION UNDER THE NATIONAL LEGISLATION OF RUSSIA

2021 ◽  
pp. 84-88
Author(s):  
Яна Валерьевна Самиулина
Keyword(s):  
Theoretical Analysis ◽  
Concept Formation ◽  
International Community ◽  
Individual State ◽  
Federal Law ◽  
Present Stage ◽  
Internal Security ◽  
National Legislation ◽  
Domestic Legislation ◽  
Definition Of

В статье освещен вопрос, связанный с эволюцией понятия терроризма по законодательству России. Актуальность темы определяется, прежде всего, тем, что проявление терроризма представляет собой серьезную угрозу международной и внутренней безопасности каждого отдельного государства, всего международного сообщества в целом. В результате проведенного теоретического анализа отечественного законодательства об ответственности за совершение преступлений террористического характера автором выделено пять исторических этапов (периодов) его становления, представлена их характеристика. В заключение делается вывод о существовании на современном этапе проблемы выработки определения сложного и многогранного понятия «терроризм». Законодательная дефиниция «терроризм» должна быть принципиально полной, содержать характеризующие специфические признаки, соответствующие современным способам его проявлений. Полагаем, что современная дефиниция, изложенная в п. 1 ст. 3 Федерального закона «О противодействии терроризму», пока не идеальна и продолжает требовать к себе внимания со стороны исследователей и законодателя с целью корректировки терминологии. The issue related to the evolution of the concept of terrorism under Russian legislation is examined in the article The relevance of the topic is determined, first of all, by the fact that the manifestation of terrorism is a serious threat to the international and internal security of each individual state, the entire international community as a whole. As a result of the theoretical analysis of domestic legislation on responsibility for crimes of a terrorist nature, the author has identified five historical stages (periods) of its formation, and presented their characteristics. In conclusion, a conclusion is made about the existence at the present stage of the problem of developing a definition of the complex and multifaceted concept of «terrorism». The definition of terrorism should be fundamentally complete, include characterizing specific features characteristic of modern ways of its manifestations. We believe that the modern definition set forth in paragraph 1 of Art. 3 of the Federal Law «On Countering Terrorism» is not ideal yet and continues to require attention from researchers and legislators in order to correct the terminology.

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