Indoor Positioning Algorithm Based on Maximum Correntropy Unscented Information Filter

In view of the fact that indoor positioning systems are usually affected by non-Gaussian noise in complex indoor environments, this paper tests the data in the actual scene and analyzes the distribution characteristics of noise, and proposes a new indoor positioning algorithm based on maximum correntropy unscented information filter (MCUIF). The proposed indoor positioning algorithm includes three steps: First, the estimation of the state matrix and the corresponding covariance matrix are predicted through the unscented transformation (UT). Second, the observed information is reconstructed by using a nonlinear regression method on the basis of the maximum correntropy criterion (MCC). Third, the contribution of information vector is gained by non-Gaussian measurement and the predicted information vector is corrected by the contribution of information vector. Finally, the gain of information filtering is got by the information entropy state matrix and the information entropy measurement matrix to calculate the position coordinates of the unknown nodes. This algorithm enhances the robustness of the MCUIF to non-Gaussian noise in complex indoor environments. The results from the indoor positioning experiments show that MCUIF is better than the traditional methods in state estimation and position location of the unknown nodes.

Gradient iterative algorithm for rational models based on Gram-Schmidt orthogonalization method

An improved gradient iterative algorithm, termed as Gram-Schmidt orthogonalization based gradient iterative algorithm, is proposed for rational models in this paper. The algorithm can obtain the optimal parameter estimates in one iteration for the reason that the information vectors obtained by using the Gram-Schmidt orthogonalization method are independent of each other. Compared to the least squares algorithm and the traditional gradient iterative algorithm, the proposed algorithm does not require the matrix inversion and eigenvalue calculation, thus it can be applied to nonlinear systems with complex structures or large-scale systems. Since the information vector of the rational models contains the latest output that is correlated with the noise, a biased compensation Gram-Schmidt orthogonalization based gradient iterative algorithm is introduced, by which the unbiased parameter estimates can be obtained. Two simulated examples are applied to demonstrate the efficiency of the proposed algorithm.

SUM CODE BASED ON THE PRINCIPLE OF WEIGHTING TRANSITIONS BETWEEN DIGIT GROUPS OF THE INFORMATION VECTOR

The problem of code modification with summation of weighted transitions is considered. A method for designing summation codes is proposed, which is based on summing the weight coefficients attributed to groups of several digits in the information vector. It is proposed to choose weight coefficients from a sequence of natural numbers. The modified code with the summation of weighted transitions can be used in the construction of devices with the detection of malfunctions and errors in calculations at the outputs of blocks and nodes.

ANÁLISE GEOAMBIENTAL E PERCEPÇÃO DE UNIDADES DE PAISAGEM NO MUNICÍPIO DE GRAJAÚ-MARANHÃO

GEOENVIRONMENTAL ANALYSIS AND PERCEPTION OF LANDSCAPE UNITS IN THE MUNICIPALITY OF GRAJAÚ-MARANHÃOANÁLISIS GEOAMBIENTAL Y PERCEPCIÓN DE UNIDADES DE PAISAJE EN EL MUNICIPIO DE GRAJAÚ-MARANHÃORESUMOO município de Grajaú está inserido no contexto da reestruturação do espaço econômico maranhense, a partir da segunda metade do século XX, integrando o cenário nacional de intensificação da ocupação humana em direção à Amazônia Oriental. A análise geoambiental contribui para compreensão dos elementos orientadores de mudanças na paisagem, enriquecendo a discussão sobre os processos de formação do espaço. Foram analisadas informações bibliográficas, dados vetoriais e de Sensoriamento Remoto, com apoio de Geoinformação, assim como dados obtidos por pesquisa qualitativa. A partir de conhecimentos sobre geologia, geomorfologia, clima, solos e de cobertura vegetal do território, em escala de 1:30.000, foram identificadas cinco unidades geoambientais, com padrões biofísicos semelhantes, reunidos em conjuntos representados cartograficamente.Palavras-chave: Análise Territorial; Unidade Geoambinetal; Grajaú; Maranhão.ABSTRACTThe municipality of Grajaú is inserted in the national context of Maranhão state’s economic space restructuring from the second half of the 20th century, integrating the national scenario of human occupation intensification towards the Eastern Amazon. Geoenvironmental analysis contributes to understanding the elements that guide changes in the landscape, thus enriching the discussion about the processes involved in space formation. Bibliographic information, vector and Remote Sensing data were analyzed with support from Geoinformation, as well as data obtained by qualitative research. Based on the knowledge about geology, geomorphology, climate, soils and vegetation cover of the territory, on a scale of 1:30.000, five geoenvironmental units were identified, with similar biophysical patterns, assembled in sets represented cartographically.Keywords: Territorial Analysis; Geoenvironmental Units; Grajaú; Maranhão. RESUMENEl municipio de Grajaú se inserta en el contexto de la reestructuración del espacio económico de Maranhão, desde la segunda mitad del siglo XX, integrando el escenario nacional de intensificación de la ocupación humana hacia la Amazonía Oriental. El análisis geoambiental contribuye a la comprensión de los elementos que guían los cambios en el paisaje, enriqueciendo la discusión sobre los procesos de formación espacial. Se analizó información bibliográfica, datos vectoriales y datos de Teledetección, con el apoyo de Geoinformación, así como los datos obtenidos por investigación cualitativa. Con base en el conocimiento sobre geología, geomorfología, clima, suelos y cobertura vegetal del territorio, en una escala de 1:30.000, se identificaron cinco unidades geoambientales, con patrones biofisicos similares, ensamblados en conjuntos representados cartográficamente.Palabras clave: Análisis Territorial; Unidade Geoambiental; Grajaú; Maranhão.

Conditional Analysis for Mixed Covariates, with Application to Feed Intake of Lactating Sows

We propose a novel modeling framework to study the effect of covariates of various types on the conditional distribution of the response. The methodology accommodates flexible model structure, allows for joint estimation of the quantiles at all levels, and provides a computationally efficient estimation algorithm. Extensive numerical investigation confirms good performance of the proposed method. The methodology is motivated by and applied to a lactating sow study, where the primary interest is to understand how the dynamic change of minute-by-minute temperature in the farrowing rooms within a day (functional covariate) is associated with low quantiles of feed intake of lactating sows, while accounting for other sow-specific information (vector covariate).

AN INDOOR SLAM METHOD BASED ON KINECT AND MULTI-FEATURE EXTENDED INFORMATION FILTER

Based on the frame of ORB-SLAM in this paper the transformation parameters between adjacent Kinect image frames are computed using ORB keypoints, from which priori information matrix and information vector are calculated. The motion update of multi-feature extended information filter is then realized. According to the point cloud data formed by depth image, ICP algorithm was used to extract the point features of the point cloud data in the scene and built an observation model while calculating a-posteriori information matrix and information vector, and weakening the influences caused by the error accumulation in the positioning process. Furthermore, this paper applied ORB-SLAM frame to realize autonomous positioning in real time in interior unknown environment. In the end, Lidar was used to get data in the scene in order to estimate positioning accuracy put forward in this paper.