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Attitude observer on the special orthogonal group with Earth velocity estimation

SYSTEMS & CONTROL LETTERS 2019年 126卷 33-39页

作者： Batista, Pedro Silvestre, Carlos Oliveira, Paulo Univ Lisbon Inst Super Tecn LARSyS Inst Syst & Robot Lisbon Portugal Univ Macau Fac Sci & Technol Dept Elect & Comp Engn Taipa Macao Peoples R China Univ Lisbon LAETA LARSyS Inst Syst & Robot Lisbon Portugal Univ Lisbon LAETA Inst Mech Engn Lisbon Portugal

This paper proposes a new nonlinear attitude observer based on high-grade rate gyros and single body-fixed vector measurements of a constant inertial vector, in contrast with typical solutions that require two of these vectors. The structure is cascaded, where in the first block a vector that is related to the angular velocity of the Earth is estimated and in the second block the attitude itself is obtained. The attitude is directly estimated on the special orthogonal group and the estimation error is shown to converge to zero, with a region of convergence that is best described as semi-global, with local exponential convergence. Simulation results illustrate the achievable performance of the proposed solution and the robustness to sensor noise. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Attitude algorithms State observers Navigation systems estimation algorithms Nonlinear systems

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Efficient tree structured motion estimation using successive elimination

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IEE PROCEEDINGS-VISION IMAGE AND SIGNAL PROCESSING 2004年第5期151卷 369-377页

作者： Yang, M Cui, H Tang, K Tsinghua Univ Dept Elect Engn State Key Lab Microwave & Digital Commun Beijing 100084 Peoples R China

In H.264/AVC, tree structured motion estimation enhances the coding efficiency significantly while dramatically increasing the computational complexity of block matching. In the paper, a successive elimination algorithm (SEA) is implemented in tree structured motion estimation with a simple and effective method to determine the initial motion vector, which exploits the strong correlation among the partially overlapped variable-size blocks. With identical performance to a full search algorithm, computations. for block matching can be reduced to 1%-20%. Further, the SEA can be improved by incorporating two early termination conditions, then named 'Quick SEA'. Finally, a novel fast motion estimation algorithm, successive elimination diamond search (SEDS), is proposed by efficiently integrating the Quick SEA and a modified diamond search pattern. Simulation results show that the proposed Quick SEA can reduce the computational complexity of block matching by 3-5 times compared to the basic SEA. SEDS further reduces by about one-half the computations of Quick SEA. With similar rate distortion performance, 0.2%-1% block matching distortion is calculated for SEDS with corresponding speed-up factors of 100 to 500 in comparison with the full search algorithm.

关键词： .reference frame motion vectors reduce the number unimodal estimation algorithms block motion successive elimination HEXBS candidate points minimum point Fast motion estimation block matching distortion

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Switching mode generation and optimal estimation with application to skid-steering

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AUTOMATICA 2011年第1期47卷 50-64页

作者： Caldwell, T. M. Murphey, T. D. Northwestern Univ Evanston IL 60208 USA

Skid-steered vehicles, by design, must skid in order to maneuver. The skidding causes the vehicle to behave discontinuously during a maneuver as well as introduces complications to the observation of the vehicle's state, both of which affect a controller's performance. This paper addresses estimation of contact state by applying switched system optimization to estimate skidding properties of the skid-steered vehicle. In order to treat the skid-steered vehicle as a switched system, the vehicle's ground interaction is modeled using Coulomb friction, thereby partitioning the system dynamics into four distinct modes, one for each combination of the forward and back wheel pairs sticking or skidding. Thus, as the vehicle maneuvers, the system propagates over some mode sequence, transitioning between modes over some set of switching times. This paper presents second-order optimization algorithms for estimating these switching times. We emphasize the importance of the second-order algorithm because it exhibits quadratic convergence and because even for relatively simple examples, first-order methods fail to converge on time scales compatible with real-time operation. Furthermore, the paper presents a technique for estimating the mode sequence by optimizing a relaxation of the switched system. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： Autonomous vehicles Autonomous mobile robots Optimization Optimal estimation Optimal control estimation algorithms

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Radar Chart for estimation Performance Evaluation

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IEEE ACCESS 2019年 7卷 113880-113888页

作者： Peng, Weishi Li, Yinghong Fang, Yangwang Wu, Yun Li, Qing Air Force Engn Univ Dept Aeronaut Engn Xian 710038 Shaanxi Peoples R China People Armed Police Engn Univ Dept Equipment Management & Support Xian 710086 Shaanxi Peoples R China Northwestern Polytech Univ Unmanned Syst Res Inst Xian 710072 Shaanxi Peoples R China

Comprehensive measures for the estimation performance evaluation (EPE) has become increasingly prominent. This paper proposed a new radar chart evaluation method to measure the estimation performance. Firstly, the new radar chart index, which is composed of several popular incomprehensive measures, are presented, and the method of the weight of the each index is calculated based on vector ranking method. Secondly, the new comprehensive measures for the EPE is designed according to the fan area and the fan arc length. Finally, two cases study are provided to verify the effectiveness of this method.

关键词： estimation algorithms estimation performance evaluation radar chart decision support systems

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Hidden Markov model state estimation with randomly delayed observations

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 1999年第8期47卷 2157-2166页

作者： Evans, JS Krishnamurthy, V Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA Univ Melbourne Dept Elect & Elect Engn Parkville Vic 3052 Australia

This paper considers state estimation for a discrete-time hidden Markov model (HMM) when the observations are delayed by a random time, The delay process is itself modeled as a finite state Markov chain that allows an augmented state HMM to model the overall system. State estimation algorithms for the resulting HMM are then presented, and their performance is studied in simulations. The motivation for the model stems from the situation when distributed sensors transmit measurements over a connectionless packet switched communications network.

关键词： .finite state estimation algorithms fifinite-state Model State estimation Delayed Observations

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Using combustion net torque for estimation of combustion properties from measurements of crankshaft torque

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CONTROL ENGINEERING PRACTICE 2014年第1期26卷 233-244页

作者： Thor, Mikael Egardt, Bo McKelvey, Tomas Andersson, Ingemar Chalmers Univ Technol Dept Signals & Syst SE-41296 Gothenburg Sweden

Two methods, both based on the concept of combustion net torque, for estimation of combustion properties using measurements of crankshaft torque data are investigated in this work. The first of the proposed methods estimates entire burned mass fraction traces from corresponding combustion net torque traces. This is done by solving a convex optimization problem that is based on a derived analytical relation between the two quantities. The other proposed estimation method estimates the well established combustion phasing measure referred to as 50% burned mass fraction directly from combustion net torque using a nonlinear black-box mapping. The methods are assessed using both simulations and experimental data gathered from a 5-cylinder light-duty diesel engine equipped with a crankshaft torque sensor and cylinder pressure sensors that are used for reference measurements. The results indicate that both methods work well but the method that estimates entire burned mass fraction traces is more sensitive to torque data quality. Based on the experimental crankshaft torque data, the direct combustion phasing estimation method delivers estimates with a bias of less than I CAD and a cycle-to-cycle standard deviation of less than 2.7 CAD for all cylinders. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Internal combustion engines Engine control Engine management estimation algorithms

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State and parameter estimation of state-space model with entry-wise correlated uniform noise

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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 2014年第11期28卷 1189-1205页

作者： Pavelkova, Lenka Karny, Miroslav Acad Sci Czech Republic Inst Informat Theory & Automat CR-18208 Prague Czech Republic

Joint parameter and state estimation is proposed for linear state-space model with uniform, entry-wise correlated, state and output noises (LSU model for short). The adopted Bayesian modelling and approximate estimation produce an estimator that (a) provides the maximum a posteriori estimate enriched by information on its precision, (b) respects correlated noise entries without demanding the user to tune noise covariances, and (c) respects bounded nature of real-life variables. Copyright (c) 2013 John Wiley & Sons, Ltd.

关键词： state-space models uncertain dynamic systems bounded noise filtering problems estimation algorithms

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Minimization of Wet End disturbances during web breaks using online LAV estimation

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CONTROL ENGINEERING PRACTICE 2010年第4期18卷 433-447页

作者： Nobakhti, Amin Wang, Hong Sharif Univ Technol Tehran Iran Univ Manchester Control Syst Ctr Manchester M13 9PL Lancs England

During a Wet End break, the loss of paper feed through the paper machine causes loss of sensory information and the remaining parts of the process are operated in open-loop. This causes the stock composition in the Headbox to deviate substantially from the nominal specifications, causing paper quality (after start up) and paper machine runability issues. In this work, the Base Sheet Ash measurement of the scanner is estimated using a least absolute value (LAV) model which can then be used for control of the chalk valve during the breaks to keep the Headbox Ash within specified limits. The model is computed using a very fast optimization algorithm which is able to compute the LAV solution using only basic elementary operations. The proposed approach has been developed for a UK paper mill. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： estimation algorithms Paper industry Linear estimation Genetic algorithms

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Satellite estimation of precipitation over land

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HYDROLOGICAL SCIENCES JOURNAL-JOURNAL DES SCIENCES HYDROLOGIQUES 1996年第4期41卷 433-451页

作者： Petty, GW Krajewski, WF Earth and Atmospheric Sciences Department Purdue University Department of Civil and Environmental Engineering The University of Iowa

The availability of satellite-derived rainfall products to hydrologists and other natural scientists has increased enormously in the last five years. The purpose of this paper is to review concisely the current state-of-the-art of satellite precipitation estimation over land and the availability of standard products, and to highlight some of the strengths and limitations of satellite-derived rainfall data for hydrological applications. Methods based on infrared, visible and passive microwave radiation measurements are discussed. Results of several international activities aimed at evaluating the performance of the estimation algorithms are briefly summarized.

关键词： .passive summarized Satellite-derived PRECIPITATION estimation précipitations Satellite estimation estimation algorithms

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Cooperative constrained parameter estimation by ADMM-RLS

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AUTOMATICA 2020年 121卷 109175-109175页

作者： Breschi, Valentina Bemporad, Alberto Kolmanovsky, Ilya, V Politecn Milan Dipartimento Elettron Informaz & Bioingn Piazza L da Vinci 32 I-20133 Milan Italy IMT Sch Adv Studies Lucca Piazza San Francesco 19 I-55100 Lucca Italy Univ Michigan Dept Aerosp Engn Ann Arbor MI 48109 USA

With recent advances in cloud computing, resources with customizable computational power and memory can be exploited to store and analyze data collected from large sets of devices. Although one can exploit the connection to the cloud to perform all the desired tasks on the cloud itself, in many applications it is also desirable to retrieve and process information locally. In this paper, we present a collection of cloud-aided consensus-based Recursive Least-Squares (RLS) estimators. The approaches are tailored to handle linear and nonlinear consensus constraints and limitations on parameter ranges. All the methods are designed so that raw measurements collected at the device level are processed by the device itself, requiring minimal changes to (possibly pre-existing) RLS estimators. The local estimates are then recursively refined and fused on the cloud to reach consensus among the devices. (C) 2020 Elsevier Ltd. All rights reserved.

关键词： estimation algorithms Collaborative systems Cloud computing Iterative methods Alternating Direction Method of Multipliers Recursive least squares

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