Evolve a new kinematic positioning algorithm to estimate the position accurately in low latitude region and assess the algorithm's performance in terms of accuracy and precision is the objective of this research p...
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Evolve a new kinematic positioning algorithm to estimate the position accurately in low latitude region and assess the algorithm's performance in terms of accuracy and precision is the objective of this research paper. The Extended Kalman Filter (EKF) has been widely recognized as one of the most powerful state estimation techniques in estimating system of state variables and deteriorating measurement noise. The Extended Kalman Filter is required because the uncertainty in the Minimum Mean Square Error (MMSE) estimation can be minimized. In this article, the researcher carried out a new kinematic positioning algorithm named as Cross-Correntropy Kalman Filter (CCKF) to enhance the position accuracy and performance of the Global Positioning System (GPS) receiver. Primarily, the augmentation depends on the Cross-Correntropy criterion which is a measure of local similarity index, and a novel fixed-point algorithm for updating subsequent estimates. In this work, the researcher presents a thorough derivation of the method is suggested, and how to estimate the Global Positioning System receiver position in low latitudes of the Indian geographical area accurately. Furthermore, in this research paper, a comparison between estimated receiver positions, measured error and performance metrics (2-Dimensional & 3-Dimensional) together with graphical illustrations for both the algorithms (EKF & CCKF) are presented. Performance of the two algorithms (EKF and CCKF) are evaluated by considering the data of a dual frequency GPS receiver located at IGS station: IISc Bangalore (lat/lon: 13.01 degrees N/77.56 degrees E). The reenactment outcomes of the proposed algorithm show that the estimated receiver position is much closer to the receiver true position. In this article, batch processing data of IGS station, IISc Bangalore, obtained from IGS network of Scrips Orbit Permanent Array Center (SOPAC) is given as input and output yields in East, North and Up directions of the receiver posit
Based on the developed nonlinear dynamic equations of a quadrotor (named as Qball-X4) UAV (Unmanned Aerial Vehicle), attitude and trajectory tracking control designs based on an inner/outer loop control structure has ...
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ISBN:
(纸本)9781424481545
Based on the developed nonlinear dynamic equations of a quadrotor (named as Qball-X4) UAV (Unmanned Aerial Vehicle), attitude and trajectory tracking control designs based on an inner/outer loop control structure has been proposed in this paper. Feedback linearization is designed to control the attitude stability in inner loop, traditional PID is designed to follow trajectory in accordance with pre-planned paths based on the Qball-X4 nonlinear model. For taking care of faults occurred in the UAV during the flight, reconfigurable control allocation is implemented together with the above controllers. Performance of constrained optimization algorithm for reconfigurable control allocation design - fixed-point (Fix) algorithm with applications to Qball-X4 is evaluated under different partial-loss fault cases. Various simulation results have been provided to demonstrate the validity of the fault tolerant control system design and the effectiveness of the reconfigurable control allocation design in trajectory tracking control.
In this paper, we propose a novel audio declipping method that fuses sparse-optimization-based and deep neural network (DNN)- based methods. The two methods have contrasting characteristics, depending on clipping leve...
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In this paper, a novel independent component analysis (ICA) approach is proposed, which is robust against the interference of impulse noise. To implement ICA in a noisy environment is a difficult problem, in which tra...
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In this paper, a novel independent component analysis (ICA) approach is proposed, which is robust against the interference of impulse noise. To implement ICA in a noisy environment is a difficult problem, in which traditional ICA may lead to poor results. We propose a method that consists of noise detection and image signal recovery. The proposed approach includes two procedures. In the first procedure, we introduce a self-organizing map (SOM) network to determine if the observed image pixels are corrupted by noise. We will mark each pixel to distinguish normal and corrupted ones. In the second procedure, we use one of two traditional ICA algorithms (fixed-point algorithm and Gaussian moments-based fixed-point algorithm) to separate the images. The fixed-point algorithm is proposed for general ICA model in which there is no noise interference. The Gaussian moments-based fixed-point algorithm is robust to noise interference. Therefore, according to the mark of image pixel, we choose the fixed-point or the Gaussian moments-based fixed-point algorithm to update the separation matrix. The proposed approach has the capacity not only to recover the mixed images, but also to reduce noise from observed images. The simulation results and analysis show that the proposed approach is suitable for practical unsupervised separation problem.
The solutions presented in this paper can be the basis for mutual comparison of different types of accelerometers produced by competing companies. An application of a procedure based on the Monte Carlo method to deter...
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The solutions presented in this paper can be the basis for mutual comparison of different types of accelerometers produced by competing companies. An application of a procedure based on the Monte Carlo method to determine the maximum energy at the output of accelerometers is discussed here. The fixed-point algorithm controlled by the Monte Carlo method is used to determine this energy. This algorithm can only be used for the time-invariant and linear measurement systems. Hence, the accelerometer nonlinearities are not considered here. The mathematical models of the accelerometer and the special filter, represented by the relevant transfer functions, are the basis for the above procedure. Testing results of the voltage-mode accelerometer of type DJB A/1800/V are presented here as an example of an implementation of the solutions proposed. Calculation of the energy was executed in Mathcad 14 program with the built-in Programming Toolbar. The value of the maximum output energy determined for a specified time interval corresponds to the maximum integral-square error of the accelerometer. Such maximum energy can be a comparative ratio just like the accuracy class in the case of instruments used for the static measurements. Hence, the main analytical and technical contributions of this paper concern the development of theoretical procedures and the presentation of their application on the example of a real type of accelerometer.
This paper introduces a highly efficient waterfilling-based strategy for optimal use of the channel in vehicular or personal ad-hoc communications. The approach provides near optimum allocation of resources and enable...
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ISBN:
(纸本)9781467362337
This paper introduces a highly efficient waterfilling-based strategy for optimal use of the channel in vehicular or personal ad-hoc communications. The approach provides near optimum allocation of resources and enables small communications devices to establish connections when the energy efficiency is at its best. Instead of calculating the transmit power through conventional waterfilling, the proposed algorithm calculates the waterlevel, thus providing a decision threshold and a strategy for optimum use of the time-variant channel at the same time. The algorithm adapts to the changing average channel quality by applying an exponentially-weighted moving-average (EWMA) trigger to re-calculate the waterlevel. The new algorithm is compared to an efficient non-iterative algorithm that directly calculates the transmit powers in every time-slot. It is shown that the new strategy reduces computation time by approximately 90% compared to the classic approach without compromising performance measures such as transmitted information or energy. Practical implementation is briefly discussed to demonstrate suitability of the algorithm for integration into tomorrow's communication devices.
Firstly, this paper introduces the basic theory of Independent Component Analysis (ICA) and the FastICA algorithm. In order to increase the algorithm convergence rate and reduce the running time, the paper amends the ...
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ISBN:
(纸本)9781424458219;9781424458240
Firstly, this paper introduces the basic theory of Independent Component Analysis (ICA) and the FastICA algorithm. In order to increase the algorithm convergence rate and reduce the running time, the paper amends the Newton's iteration method and gives an improved algorithm of independent component analysis-the Newton's iteration method with fifthorder convergence. The simulation result of the image signal separation shows that the improved algorithm have the same separate effect as conventional FastICA algorithm and can reduce the times of iterations and the running time significantly. Furthermore, the improved algorithm can also increase the convergence rate and operation efficiency.
Multivariate statistical process control (MSPC) is based on the assumption that the industrial process data must be subject to normal distribution. Under the normal operation condition, the industrial process data can...
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Multivariate statistical process control (MSPC) is based on the assumption that the industrial process data must be subject to normal distribution. Under the normal operation condition, the industrial process data can not be satisfied and the monitoring signals collected are mostly the mixed-signals. The method on how to separate the each vibration signal from the mixed-signals was pro-posed in this paper. Independent component analysis (ICA) is a new statistical method that generated in recent years, which can over-come the dependence of data distribution. The fixed-point algo-rithm of negentropy based on Independent Component Analysis was researched in this article. At last, the simulation was made on the normal signals and the vibration signals of gas turbine in Yan-shan Petrochemical Gas plant of Beijing, the results show that this method is effective and useful.
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