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Simulation analysis of EKF and UKF implementations in PHD filter
2016 IEEE 13th International Conference on Networking, Sensing, and Control (ICNSC), 2016The probability hypothesis density (PHD) filter is a practical alternative to the optimal Bayesian multi-target filter based on finite set statistics. This paper presents two extensions implementation to nonlinear models in PHD filters, namely the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), and discusses their advantage and ...
Xiaoying Wang, Jiacun Wang
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2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2016
In the development of advanced driver-assist systems (ADAS) for lane-keeping, one important design objective is to appropriately share the steering control with the driver. Hence, the steering behavior of the driver must be well known beforehand. This paper adopts the well-known two-point visual driver model to characterize the steering behavior of the
Changxi You +2 more
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In the development of advanced driver-assist systems (ADAS) for lane-keeping, one important design objective is to appropriately share the steering control with the driver. Hence, the steering behavior of the driver must be well known beforehand. This paper adopts the well-known two-point visual driver model to characterize the steering behavior of the
Changxi You +2 more
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A human motion estimation method based on GP-UKF
2014 IEEE International Conference on Information and Automation (ICIA), 2014A novel human motion estimation method is presented in this paper. The motion of the human is estimated by an Unscented Kalman filter (UKF), in which a nonlinear dynamic model is used to predict trajectory of human. This dynamic model is obtained from sample data by using Gaussian Process (GP) regression.
Ziyou Wang +3 more
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Comparative Study of EKF and UKF for SOC Estimation of Lithium-ion Batteries
2019 IEEE Innovative Smart Grid Technologies - Asia (ISGT Asia), 2019With the expanding application of lithium-ion batteries, the state of charge (SOC) estimation based on the Kalman filter (KF) draws great attention. However, lots of KF’s variants, such as extended Kalman filter (EKF) and unscented Kalman filter (UKF ...
Tian Xiao +3 more
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MPC for a Simplified Transmission Model with Backlash Using UKF
IEEE International Symposium on Intelligent Control, 2006Backlash mechanisms can be seen in many mechanical systems and they may deteriorate the performance of the systems. So the control of the backlash is very important for practical applications. In this paper we propose a control method for a simplified transmission system with the backlash using a Model Predictive Control (MPC) and Unscented Kalman ...
M. Saito, M. Yamakita
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Constrained nonlinear state estimation based on the UKF approach
Computers & Chemical Engineering, 2009In this paper we investigate the use of an alternative to the extended Kalman filter (EKF), the unscented Kalman filter (UKF). First we give a broad overview of different UKF algorithms, then present an extension to the ensemble of UKF algorithms, and finally address the issue of how to add constraints using the UKF approach.
S. Kolås, Bjarne A. Foss, T. S. Schei
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Application of an Adaptive UKF in UWB Indoor Positioning
ACM Cloud and Autonomic Computing Conference, 2019In order to solve the problem that indoor positioning is easily affected by indoor environment and there is a fixed bias in positioning results, a new adaptive UKF is proposed to achieve indoor high-precision positioning in UWB. This method considers the
Jun Fu, Yang Fu, Da Xu
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Optimal estimation of the central normal of a heliostat using UKF
2010 11th International Conference on Control Automation Robotics & Vision, 2010The aiming accuracy of the optical axis of a heliostat directly affects the working efficiency of a concentrating solar tower plant. Due to the size of heliostat, it is difficult to measure the orientation of the optical axis directly during the tracking process.
Fen Xu, Wenfeng Liang
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Application of UKF Alogrithm in Passive Localization and Tracking
2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), 2018Depending on the information of DOA and TOA, passive location to a moving emitter can be realized by a fixed observer. In the location system, the state model is generally linear, but the measurement model is frequently nonlinear. With the help of extended Kalman filter (EKF), the state of the target can be estimated, and the track of it can be also ...
Li Bingrong +3 more
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