Distributed Kalman filter for UWB/INS integrated pedestrian localization under colored measurement noise

Colored Measurement Noise (CMN) has a great impact on the accuracy of human localization in indoor environments with Inertial Navigation System (INS) integrated with Ultra Wide Band (UWB). To mitigate its influence, a distributed Kalman Filter (dKF) is developed for Gauss–Markov CMN with switching Colouredness Factor Matrix (CFM). In the proposed scheme, a data fusion filter employs the difference between the INS- and UWB-based distance measurements. The main filter produces a final optimal estimate of the human position by fusing the estimates from local filters. The effect of CMN is overcome by using measurement differencing of noisy observations. The tests show that the proposed dKF developed for CMN with CFM can reduce the localization error compared to the original dKF, and thus effectively improve the localization accuracy.

Optimized distributed fusion filtering for singular systems with fading measurements and stochastic nonlinearity

<abstract><p>In this paper, the problem of optimized distributed fusion filtering is considered for a class of multi-sensor singular systems in the presence of fading measurements and stochastic nonlinearity. By utilizing the standard singular value decomposition, the multi-sensor stochastic singular systems are simplified to two reduced-order nonsingular subsystems (RONSs). The local filters (LFs) with corresponding error covariance matrices are proposed for RONSs via the innovation analysis approach. Then, on the basis of the matrix-weighted fusion estimation algorithm, the distributed fusion filters (DFFs) are designed for RONSs with multiple sensors in the linear minimum variance sense. Moreover, the DFFs are obtained by utilizing the state transformation for original singular systems. It can be observed that the DFFs have better accuracy in contrast with the LFs. Finally, an illustrate example is put forward to verify the feasibility of the proposed fusion filtering scheme.</p></abstract>

Violation of Bell-CHSH Inequalities through Optimal Local Filters in the Vacuum

We investigate quantum correlations appearing for two-qubit detectors which are initially uncorrelated and locally coupled to a massless scalar field in a vacuum state. Under the perturbation up to the second order in the coupling, the state of the detectors can be entangled through the interaction with the scalar field but satisfies the Bell-CHSH inequality. The violation of the Bell-CHSH inequality for such an entangled state is revealed by local filtering operations. In this paper, we construct the optimal filtering operations for the qubit detectors and derive the success probability of the filtering. The success probability characterizes the reliability of revealing the violation of the Bell-CHSH inequality by the filtering operations. Through these analyses, we demonstrate a trade-off relation between the success probability and the size of parameter region showing the violation of the Bell-CHSH inequality.

Automatic local resolution-based sharpening of cryo-EM maps

Motivation Recent technological advances and computational developments have allowed the reconstruction of Cryo-Electron Microscopy (cryo-EM) maps at near-atomic resolution. On a typical workflow and once the cryo-EM map has been calculated, a sharpening process is usually performed to enhance map visualization, a step that has proven very important in the key task of structural modeling. However, sharpening approaches, in general, neglects the local quality of the map, which is clearly suboptimal. Results Here, a new method for local sharpening of cryo-EM density maps is proposed. The algorithm, named LocalDeblur, is based on a local resolution-guided Wiener restoration approach of the original map. The method is fully automatic and, from the user point of view, virtually parameter-free, without requiring either a starting model or introducing any additional structure factor correction or boosting. Results clearly show a significant impact on map interpretability, greatly helping modeling. In particular, this local sharpening approach is especially suitable for maps that present a broad resolution range, as is often the case for membrane proteins or macromolecules with high flexibility, all of them otherwise very suitable and interesting specimens for cryo-EM. To our knowledge, and leaving out the use of local filters, it represents the first application of local resolution in cryo-EM sharpening. Availability and implementation The source code (LocalDeblur) can be found at https://github.com/I2PC/xmipp and can be run using Scipion (http://scipion.cnb.csic.es) (release numbers greater than or equal 1.2.1). Supplementary information Supplementary data are available at Bioinformatics online.