scholarly journals A Strong Tracking Mixed-Degree Cubature Kalman Filter Method and Its Application in a Quadruped Robot

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2251 ◽  
Author(s):  
Jikai Liu ◽  
Pengfei Wang ◽  
Fusheng Zha ◽  
Wei Guo ◽  
Zhenyu Jiang ◽  
...  
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Real Time ◽  
Quadruped Robot ◽  
The State ◽  
Estimation Accuracy ◽  
Robot System ◽  
Calculation Time ◽  
Motion State ◽  
Cubature Kalman Filter

The motion state of a quadruped robot in operation changes constantly. Due to the drift caused by the accumulative error, the function of the inertial measurement unit (IMU) will be limited. Even though multi-sensor fusion technology is adopted, the quadruped robot will lose its ability to respond to state changes after a while because the gain tends to be constant. To solve this problem, this paper proposes a strong tracking mixed-degree cubature Kalman filter (STMCKF) method. According to system characteristics of the quadruped robot, this method makes fusion estimation of forward kinematics and IMU track. The combination mode of traditional strong tracking cubature Kalman filter (TSTCKF) and strong tracking is improved through demonstration. A new method for calculating fading factor matrix is proposed, which reduces sampling times from three to one, saving significantly calculation time. At the same time, the state estimation accuracy is improved from the third-degree accuracy of Taylor series expansion to fifth-degree accuracy. The proposed algorithm can automatically switch the working mode according to real-time supervision of the motion state and greatly improve the state estimation performance of quadruped robot system, exhibiting strong robustness and excellent real-time performance. Finally, a comparative study of STMCKF and the extended Kalman filter (EKF) that is commonly used in quadruped robot system is carried out. Results show that the method of STMCKF has high estimation accuracy and reliable ability to cope with sudden changes, without significantly increasing the calculation time, indicating the correctness of the algorithm and its great application value in quadruped robot system.

A Strong Tracking Cubature Kalman Filter for Nonlinear Estimation

2013 ◽  
Vol 313-314 ◽  
pp. 1115-1119
Author(s):  
Yong Qi Wang ◽  
Feng Yang ◽  
Yan Liang ◽  
Quan Pan
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Scaling Factor ◽  
Estimation Accuracy ◽  
Nonlinear State Estimation ◽  
Cubature Kalman Filter ◽  
Novel Method ◽  
Simulation Results ◽  
Tracking Filter ◽  
Nonlinear State

In this paper, a novel method based on cubature Kalman filter (CKF) and strong tracking filter (STF) has been proposed for nonlinear state estimation problem. The proposed method is named as strong tracking cubature Kalman filter (STCKF). In the STCKF, a scaling factor derived from STF is added and it can be tuned online to adjust the filtering gain accordingly. Simulation results indicate STCKF outperforms over EKF and CKF in state estimation accuracy.

Iterated Cubature Kalman Filter for State Estimation of Maneuver Reentry Vehicle

2012 ◽  
Vol 466-467 ◽  
pp. 1329-1333
Author(s):  
Jing Mu ◽  
Chang Yuan Wang
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Unscented Kalman Filter ◽  
High Accuracy ◽  
Estimation Accuracy ◽  
Reentry Vehicle ◽  
Vehicle Simulation ◽  
Cubature Kalman Filter ◽  
Simulation Results ◽  
Iterate Process

We present the new filters named iterated cubature Kalman filter (ICKF). The ICKF is implemented easily and involves the iterate process for fully exploiting the latest measurement in the measurement update so as to achieve the high accuracy of state estimation We apply the ICKF to state estimation for maneuver reentry vehicle. Simulation results indicate ICKF outperforms over the unscented Kalman filter and square root cubature Kalman filter in state estimation accuracy.

scholarly journals Double-Layer Cubature Kalman Filter for Nonlinear Estimation

Sensors ◽  
2019 ◽  
Vol 19 (5) ◽  
pp. 986 ◽  
Author(s):  
Feng Yang ◽  
Yujuan Luo ◽  
Litao Zheng
Keyword(s):  
Kalman Filter ◽  
Computational Complexity ◽  
Double Layer ◽  
Poor Performance ◽  
The State ◽  
Estimation Accuracy ◽  
Sampling Point ◽  
Stochastic Sampling ◽  
Deterministic Sampling ◽  
Cubature Kalman Filter

The cubature Kalman filter (CKF) has poor performance in strongly nonlinear systems while the cubature particle filter has high computational complexity induced by stochastic sampling. To address these problems, a novel CKF named double-Layer cubature Kalman filter (DLCKF) is proposed. In the proposed DLCKF, the prior distribution is represented by a set of weighted deterministic sampling points, and each deterministic sampling point is updated by the inner CKF. Finally, the update mechanism of the outer CKF is used to obtain the state estimations. Simulation results show that the proposed algorithm has not only high estimation accuracy but also low computational complexity, compared with the state-of-the-art filtering algorithms.

scholarly journals Study on the Initial Value Problem for Fractional-order Cubature Kalman Filters of Nonlinear Continuous-time Fractional-order Systems

2021 ◽  
Author(s):  
Chuang Yang ◽  
Zhe Gao ◽  
Yue Miao ◽  
Tao Kan
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Fractional Order ◽  
Continuous Time ◽  
Kalman Filters ◽  
The State ◽  
Order System ◽  
Initial Value ◽  
Cubature Kalman Filter ◽  
Augmented State

Abstract To realize the state estimation of a nonlinear continuous-time fractional-order system, two types of fractional-order cubature Kalman filters (FOCKFs) designed to solve problem on the initial value influence. For the first type of cubature Kalman filter (CKF), the initial value of the estimated system are also regarded as the augmented state, the augmented state equation is constructed to obtain the CKF based on Grünwald-Letnikov difference. For the second type of CKF, the fractional-order hybrid extended-cubature Kalman filter (HECKF) is proposed to weaken the influence of initial value by the first-order Taylor expansion and the third-order spherical-radial rule. These two methods can effectively reduce the influence of initial value on the state estimation. Finally, the effectiveness of the proposed CKFs is verified by two simulation examples.

scholarly journals Adaptive filter based on Monte Carlo method to improve the target tracking in radar systems

2020 ◽  
Author(s):  
Khaireddine Zarai ◽  
Cherif Adnane
Keyword(s):  
Monte Carlo ◽  
Kalman Filter ◽  
State Estimation ◽  
Real Time ◽  
Extended Kalman Filter ◽  
Research Problem ◽  
Radar System ◽  
The State ◽  
True Path ◽  
Random Target

Abstract The state estimation and tracking of random target is an attractive research problem in radar system. The information received in the radar receiver was reflected by the target, that it is received with many white and Gaussian noise due to the characteristics of the transmission channel and the radar environment. After detection and location scenarios, the radar system must track the target in real time. We aim to improve the state estimation process for too random target at the given instant in order to converge to the true target state and smooth their true path for a long time, it simplifies the process of real-time tracking. In this framework, we propose a new approach based on the numerical methods presented by MONTE CARLO (MC) counterpart the method conventionally used named Extended KALMAN Filter (EKF), we showed that the first are more successful. Keywords: Radar, Monte Carlo, Extended KALMAN Filter, Tracking, PF, Random target.

State estimation problems in PRF-shift magnetic resonance thermometry

2018 ◽  
Vol 28 (2) ◽  
pp. 315-335 ◽  
Author(s):  
César Pacheco ◽  
Helcio R.B. Orlande ◽  
Marcelo Colaco ◽  
George S. Dulikravich
Keyword(s):  
Kalman Filter ◽  
Steady State ◽  
Magnetic Resonance ◽  
State Estimation ◽  
Real Time ◽  
The State ◽  
Estimation Problem ◽  
Content Type ◽  
Magnetic Resonance Thermometry ◽  
Direct Inversion

Purpose The purpose of this paper is to apply the Steady State Kalman Filter for temperature measurements of tissues via magnetic resonance thermometry. Instead of using classical direct inversion, a methodology is proposed that couples the magnetic resonance thermometry with the bioheat transfer problem and the local temperatures can be identified through the solution of a state estimation problem. Design/methodology/approach Heat transfer in the tissues is given by Pennes’ bioheat transfer model, while the Proton Resonance Frequency (PRF)-Shift technique is used for the magnetic resonance thermometry. The problem of measuring the transient temperature field of tissues is recast as a state estimation problem and is solved through the Steady-State Kalman filter. Noisy synthetic measurements are used for testing the proposed methodology. Findings The proposed approach is more accurate for recovering the local transient temperatures from the noisy PRF-Shift measurements than the direct data inversion. The methodology used here can be applied in real time due to the reduced computational cost. Idealized test cases are examined that include the actual geometry of a forearm. Research limitations/implications The solution of the state estimation problem recovers the temperature variations in the region more accurately than the direct inversion. Besides that, the estimation of the temperature field in the region was possible with the solution of the state estimation problem via the Steady-State Kalman filter, but not with the direct inversion. Practical implications The recursive equations of the Steady-State Kalman filter can be calculated in computational times smaller than the supposed physical times, thus demonstrating that the present approach can be used for real-time applications, such as in control of the heating source in the hyperthermia treatment of cancer. Originality/value The original and novel contributions of the manuscript include: formulation of the PRF-Shift thermometry as a state estimation problem, which results in reduced uncertainties of the temperature variation as compared to the classical direct inversion; estimation of the actual temperature in the region with the solution of the state estimation problem, which is not possible with the direct inversion that is limited to the identification of the temperature variation; solution of the state estimation problem with the Steady-State Kalman filter, which allows for fast computations and real-time calculations.

Diffusion nonlinear Kalman filter with intermittent observations

2017 ◽  
Vol 232 (15) ◽  
pp. 2775-2783 ◽  
Author(s):  
Guoqing Wang ◽  
Ning Li ◽  
Yonggang Zhang
Keyword(s):  
Kalman Filter ◽  
Sensor Networks ◽  
State Estimation ◽  
Target Tracking ◽  
Estimation Accuracy ◽  
Nonlinear State Estimation ◽  
Information Filter ◽  
Cubature Kalman Filter ◽  
Nonlinear Kalman Filter ◽  
Nonlinear State

In this article, we consider the distributed nonlinear state estimation over sensor networks under the diffusion Kalman filter paradigm, where data only exchanges among the neighbourhoods of sensors. We first obtain a novel nonlinear Kalman filter with intermittent observations based on cubature Kalman filter. After that, its equivalent information filter is derived, and the proposed diffusion cubature Kalman filter with intermittent observations is designed based on this information filter. The effectiveness of proposed algorithms is demonstrated by a typical target tracking example, and our algorithm has similar estimation accuracy when comparing with existing algorithms while consuming less computation and communication resources.

scholarly journals A Novel Comprehensive Scheme for Vehicle State Estimation Using Dual Extended H-Infinity Kalman Filter

Electronics ◽  
2021 ◽  
Vol 10 (13) ◽  
pp. 1526
Author(s):  
Fengjiao Zhang ◽  
Yan Wang ◽  
Jingyu Hu ◽  
Guodong Yin ◽  
Song Chen ◽  
...  
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Estimation Accuracy ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
H Infinity ◽  
Yaw Rate ◽  
Cost Constraints ◽  
Active Safety Systems ◽  
Vehicle State Estimation

The performance of vehicle active safety systems relies on accurate vehicle state information. Estimation of vehicle state based on onboard sensors has been popular in research due to technical and cost constraints. Although many experts and scholars have made a lot of research efforts for vehicle state estimation, studies that simultaneously consider the effects of noise uncertainty and model parameter perturbation have rarely been reported. In this paper, a comprehensive scheme using dual Extended H-infinity Kalman Filter (EH∞KF) is proposed to estimate vehicle speed, yaw rate, and sideslip angle. A three-degree-of-freedom vehicle dynamics model is first established. Based on the model, the first EH∞KF estimator is used to identify the mass of the vehicle. Simultaneously, the second EH∞KF estimator uses the result of the first estimator to predict the vehicle speed, yaw rate, and sideslip angle. Finally, simulation tests are carried out to demonstrate the effectiveness of the proposed method. The test results indicate that the proposed method has higher estimation accuracy than the extended Kalman filter.

Sign in / Sign up

Export Citation Format

Share Document