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Oct 18, 2022
10/22

by
Chui, C. K

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xv, 191 p. : 24 cm

Topic: Kalman filtering

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69

Oct 6, 2015
10/15

by
Gaver, Donald Paul.Jacobs, Patricia A.

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Title from cover

Topic: KALMAN FILTERING.

Naval Postgraduate School

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797

Dec 14, 2012
12/12

by
Gaver, Donald Paul.Jacobs, Patricia A.

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Title from cover

Topic: KALMAN FILTERING.

Thesis advisor, Robert G. Hutchins

Topics: TARGET RECOGNITION, KALMAN FILTERING

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3.0

Aug 11, 2022
08/22

by
Evensen, Geir

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xxi, 279 p. : 24 cm

Topics: Stochastic processes, Kalman filtering

A method of modeling the motion of maneuvering airborne targets using a coloring filter having a white noise input is investigated. The characteristics of the simulated maneuvers depend on the time constant of the coloring filter and the standard deviation of the white noise input. The performance of a Kalman filter based on this model of target motion compares favorably with the performance of filters derived from other models of target motion.

Topics: Kalman filtering, GFCS MK86

Typescript

Topics: Aerodynamic measurements, Kalman filtering

This thesis develops an architecture that facilitates the design and indoor testing of control algorithms implemented onboard quadrotor UAV's using an ultra-wideband (UWB) indoor positioning solution from Ubisense. Initially, details are provided on basic quadrotor dynamics, the setup of the indoor sensor environment, and the communication scheme. A thorough analysis is conducted on the accuracy and estimation lag of Ubisense UWB sensors for providing indoor position information to the...

Topics: Kalman filtering, Drone aircraft

Currently, small unmanned aerial vehicles developed by NPS have been able to locate and track stationary and moving targets on the ground. New methods of continuous target tracking are always being developed to improve speed and accuracy, ultimately aiding the user of the system. This thesis describes one such method, utilizing an open loop filter as well as an external correction source: Perspective View Nascent Technologies (PVNT). While the PVNT correction can theoretically improve the...

Topics: Mechanical engineering, Kalman filtering

http://uf.catalog.fcla.edu/uf.jsp?st=UF030573201&ix=pm&I=0&V=D&pm=1

Topics: Kalman filtering, Stochastic processes.

An algorithm has been developed for real-time forecasting of precipitation storm cell movement over water. The key to the algorithm is the Kalman filter tracking model which is continually updating the mean value and error covariance matrix of a cell's centroid position from past measurements. The algorithm was developed and applied to precipitation cells to evaluate the advantages of utilizing an optimal recursive processing program to assist in making short term tactical forecasts. This...

Topics: Kalman filtering, Precipitation forecasting

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82

Oct 9, 2015
10/15

by
Dunham, Darin T

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Thesis advisor, Robert G. Hutchins

Topic: TARGET RECOGNITION,KALMAN FILTERING

5
5.0

Jun 15, 2022
06/22

by
Harvey, A. C. (Andrew C.)

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xvi, 554 p. : 23 cm

Topics: Time-series analysis, Kalman filtering

Click here to view the University of Florida catalog record

Topics: Kalman filtering, Tracking radar, Automatic tracking

Click here to view the University of Florida catalog record

Topics: Kalman filtering, Analysis of covariance, Noise

The Phoenix Autonomous Underwater Vehicle must be able to accurately determine its position at all times. This requires: (1) GPS and differential GPS for surface navigation, (2) short baseline sonar ranging system for submerged navigation, and (3) mathematical modeling of position. This thesis describes a method of Kalman filtering to merge the GPS, differential GPS, short baseline sonar ranging, and the mathematical model to produce a single state vector of vehicle position and ocean currents....

Topics: Remote submersibles., Underwater navigation., Kalman filtering,

A sequential Extended Kalman Filter and Smoothing routine was developed to provide real time estimates of torpedo position and depth on the three dimensional underwater tracking range at the Naval Torpedo Station, Keyport , Washington. Inputs to the routine were acoustic pulse transit times from the target to receiving array elements which are non-linear functions of the position coordinates. These inputs were linearized and the filter gains and filtered estimates calculated on-line. By using a...

Topics: Torpedo Tracking, Kalman Filtering, Optimal Smoothing

Groundwater contamination is one of the major environmental risks related to landfills. Basic information about the behavior of pollutants in soil-groundwater is needed in order to evaluate the migration of leachate from landfills and to establish efficient groundwater monitoring systems. However, in practice, it is very difficult to get exact subsurface data. Thus, modeling the behavior of pollutants during the flow of leachate through soil is important in predicting the fate of the...

Topics: Leachate Transport, Groundwater, Kalman Filtering, Particle Filtering

\"Human body motion tracking using inertial sensors requires an attitude estimation filter capable of tracking in all orientations. One way to represent orientation is to use Euler angles, but they have singularities and therefore are not suitable for human body tracking applications. Quaternions can be used to represent orientation without incurring singularities. A quaternion-based Kalman filter has been designed for this purpose and implemented in this thesis. Also, a new suboptimal...

Topics: Kalman filtering, Quaternions, Human locomotion, Factor analysis

A truly Autonomous Vehicle must be able to determine its global position in the absence of external transmitting devices. This requires the optimal integration of all available organic vehicle attitude and velocity sensors. This thesis investigates the extended Kalman filtering method to merge asynchronous heading, heading rate, velocity, and DGPS information to produce a single state vector. Different complexities of Kalman filters, with biases and currents, are investigated with data from...

Topics: UNDERWATER VEHICLES, KALMAN FILTERING, DATA FUSION, NA

Two methods of estimating the attitude position of a spacecraft are examined in this thesis: the extended Kalman filter (EKF) and the unscented Kalman filter (UKF). In particular, the UnScented QUaternion Estimator (USQUE) derived from [4] is implemented into a spacecraft model. For generalizations about the each of the filters, a simple problem is initially solved. These solutions display typical characteristics of each filter type. The UKF is very attractive in spacecraft attitude estimation,...

Topics: Space vehicles, Kalman filtering, Gyroscopes, Magnetometers, Engineering

[21], 191 leaves ; 28 cm

Topics: Kalman filtering, Observers (Control theory), Automatic control

This thesis examines ASW eFusion, an anti-submarine warfare (ASW) tactical decision aid (TDA) that utilizes Kalman filtering to improve battlespace awareness by simplifying and automating the track management process involved in anti-submarine warfare (ASW) watchstanding operations. While this program can currently help the ASW commander manage uncertainty and make better tactical decisions, the program has several limitations. Commander, Anti-Submarine Warfare Force U.S. Third Fleet/Commander,...

Topics: Operations research, Kalman filtering, Anti-submarine warfare

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1.0

Oct 6, 2022
10/22

by
Grewal, Mohinder S

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xix, 392 p. : 25 cm. +

Topics: Global Positioning System, Inertial navigation, Kalman filtering

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Jun 18, 2022
06/22

by
Zarchan, Paul

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xx, 664 p. : 24 cm. +

Topics: Kalman filtering, Control theory, Aeronautics -- Statistical methods

Groundwater contamination is one of the major environmental risks related to landfills. Basic information about the behavior of pollutants in soil-groundwater is needed in order to evaluate the migration of leachate from landfills and to establish efficient groundwater monitoring systems. However, in practice, it is very difficult to get exact subsurface data. Thus, modeling the behavior of pollutants during the flow of leachate through soil is important in predicting the fate of the...

Topics: Leachate Transport, Groundwater, Kalman Filtering, Particle Filtering

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8.0

Oct 1, 2021
10/21

by
Brown, Robert Grover

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ix, 347 p. : 25 cm

Topics: Signal theory (Telecommunication), Random noise theory, Kalman filtering

A sequential Extended Kalman filter routine, implemented in the \"C\" language, is developed for an embedded computer application. The design takes into account the real time constraints imposed by the sampling time of the data. Filter measurements consist of four (4) transit times generated by torpedo instrumentation in a TEST RANGE facility, and they are nonlinear functions of the coordinates of the torpedo. Memory, speed efficiency, and portability are emphasized in the software...

Topics: Electrical and computer engineering, Kalman filtering, torpedo tracking

The goal of this project is to create a n intelligent quadrocopter to lift and fly by avoiding the obstacle in semi- autonomous flight to move from one place to other places . Quadrocopter is a platform that has four propellers in a move configuration. The UAV designed in this project is known as the Quadrocopter, has two distinguishing features, it makes use of 4 rotor s with propeller and 4 brushless DC mo tors making it fly from one place to other . The obstacle is detected...

Topics: Quadrocopter, Unmanned Aerial Vehicle, Position Estimation & Kalman Filtering

Agent-Based Models in military simulation need a model for detection and tracking other agents. It has been suggested that statistical models, such as occupancy maps or particle filters, can be used for that purpose. An occupancy map is one possibility for this task. The more volume of space, however, in a simulation, the more the computational demand of using occupancy maps grow and the more benefit could be obtained by the ability to switch to a coarser granularity in at least some parts of...

Topics: Tracking radar, Mathematics, Kalman filtering, Digital computer simulation

LosCon, the software program developed for the author's thesis and tested at sea, is designed to help the ASW commander regain tactical control in a loss of submarine contact situation. Persistent detection and cueing in the battlespace depend on utilizing contact reports from a network of combatant platform and offboard sensors. LosCon, an extended Kalman filter-based program modeled after MTST (Maneuvering Target Statistical Tracker), can integrate the sensor network very efficiently. Kalman...

Topics: Kalman filtering, Anti-submarine warfare, Thesis, Lost contact

3
3.0

Aug 10, 2022
08/22

by
Kwon, S. J. (SangJoo)

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xiii, 144 p. : 24 cm

Topics: Robust control, Motion control devices, Kalman filtering, Servomechanisms

Extended Kalman filtering is applied to the PLRS (Position Locating Reporting System). Here the nonlinearity to the filter enters through the measurement (range only). The nonlinearity being the relationship between range and the Cartesian coordinate states of the filter. Filter covariances of error are portrayed as error ellipsoids. these are used to determine which one should be used to update a unit when there are several other units available for ranging. One should attempt to make the...

Topics: PLRS, Position Locating Reporting System, Extended Kalman filtering

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Jun 18, 2019
06/19

by
Brown, Robert Grover

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x, 502 p. : 26 cm. +

Topics: Kalman filtering, Random noise theory, Signal theory (Telecommunication)

The US Navy has identified a need for an autonomous, persistent, forward deployed system to Detect, Classify, and Locate submarines. In this context, we investigate a novel method for multiple sensor platforms acting cooperatively to locate an uncooperative target. Conventional tracking methods based on techniques such as Kalman filtering or particle filters have been used with great success for tracking targets from a single manned platform; the application of these methods can be difficult...

Topics: Underwater surveillance, Kalman filtering, Classification, Detectors, Uncertainty, Algorithms

The purpose of this thesis is to develop an algorithm for segmenting images corrupted by a high level of noise with different characteristics. In particular the images considered are composed of several regions describing different objects and background. The algorithm described is based on a Markov Random Field (MRF) model of the image and uses Kalman Filtering (KF) techniques and Dynamic Prograrnrning (DP) in order to smooth within the regions. The theoretical background for one dimensional...

Topics: Markov random field, Dynamic programming, Kalman filtering techniques

Extended Kalman filtering is used to provide estimates of the position and velocity of a target based upon observations of the target's bearing and range. Non-stationary noise is shown to degrade the performance of the filter and cause filter divergence. By estimating the noise power from the variance of the filter's residual we adapt the filter to compensate for varying noise power. This thesis also introduces the method of correlated maneuver gating to adapt the Kalman filter to target...

Topics: Kalman filtering., Kalman filter, Maneuver gating, Noise adaptation

The primary goal of this research is to test the effectiveness of various image processing techniques applied to acoustic images generated in MATLAB. The simulated acoustic images have the same characteristics as those generated by a computer model of a high resolution imaging sonar. Edge Detection and Segmentation are the two image processing techniques discussed in this study. The two methods tested are a modified version of the Kalman filtering and median filtering.

Topics: Image processing, Segmentation, Edge detection, Kalman filtering, Median filtering

In active sonar and radar applications measurements consist of range, bearing and often range rate - all nonlinear functions of the target state (usually modeled in Cartesian coordinates). The converted measurement Kalman filter (CMFK) first converts the range and bearing measurements into Cartesian coordinates to allow for the use of a linear Kalman filter. The extension of the CMKF to use range rate as a linear measurement however has been limited to cases with small bearing errors. The use...

Topics: DTIC Archive, CONNECTICUT UNIV STORRS, *KALMAN FILTERING, DETECTION, TRACKING

Naval Postgraduate School

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392

Jan 16, 2013
01/13

by
Gaver, Donald Paul.;Jacobs, Patricia A.

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Title from cover

Topics: KALMAN FILTERING., TIME SERIES ANALYSIS., MATHEMATICAL PREDICTION., APPROXIMATION(MATHEMATICS)

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89

Oct 9, 2015
10/15

by
Gaver, Donald Paul.;Jacobs, Patricia A.

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Title from cover

Topic: KALMAN FILTERING.,TIME SERIES ANALYSIS.,MATHEMATICAL PREDICTION.,APPROXIMATION(MATHEMATICS)

The periodogram, the square of the magnitude of the Fourier Transform, is widely used to estimate the spectral content of sampled processes. The performance of the periodogram is degraded by spectral leakage. This is the consequence of processing finite-length data records. Classical means of enhancing periodogram performance are the use of tapered window functions and averaging of several periodograms. These methods smooth the spectral estimate, but at a loss of resolution. A non-stationary...

Topics: Kalman filtering, Signal processing, Kalman filter, periodogram, spectral analysis

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128

Oct 4, 2015
10/15

by
Walker, Randy G.

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"June 1996."

Topic: Remote submersibles,Kalman filtering,Underwater navigation,Global Positioning System

"June 1996."

Topics: Remote submersibles, Kalman filtering, Underwater navigation, Global Positioning System

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3.0

Oct 4, 2022
10/22

by
Zhang, Huanshui

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xii, 213 p. : 24 cm

Topics: Automatic control, Time delay systems, H2 control, Kalman filtering

Design requirements for a small satellite (NPSAT-1) Attitude Determination and Control Subsystem (ADCS) is a three-axis stabilized spacecraft which requires a control attitude of +/- 1.0 degrees and knowledge attitude of +/- 0.1 degree. Several design aspects are considered in development of attitude control systems for a small satellite, such as: spacecraft dynamics, space environment, disturbance torques, orbit type, and spacecraft complexity. The ideal spacecraft's attitude sensor is a rate...

Topics: Kalman filtering, Artificial satellites, Attitude control systems, Space vehicles, Gyroscopes

Precise navigation with high update rates is essential for automatic landing of an unmanned aircraft. Individual sensors currently available - INS, AHRS, GPS, LORAN, etc. - cannot meet both requirements. The most accurate navigation sensor available today is the Global Positioning System or GPS. However, GPS updates only come once per second. INS, being an on-board sensor, is available as often as necessary. Unfortunately, it is subject to the Schuler cycle, biases, noise floor, and cross-axis...

Topics: Kalman filtering, Differential Global Positioning System, Inertial Navigation System, Modeling

The performance of a sensor blending scheme for two different band-width sensors is significantly improved when a Kalman filter is used to blend the outputs vice classical control methods. This Kalman filter signal blender is designed and implemented in a computer program developed for this thesis. Several tracking scenarios are simulated and analyzed. These scenarios are representative of the input expected into the sensors on a Space Based Laser.

Topics: Kalman filtering, Lasers, Computer programs., Kalman filter, adaptive gating, sensor blending

In this thesis, a multiple hypotheses tracking (MHT) algorithm is developed to successfully track multiple ballistic missiles within the boost phase. The success of previous work on the MHT algorithm and its application in other scientific fields enables this study to realize an efficient form of the algorithm and examine its feasibility in tracking multiple crossing ballistic missiles even though various accelerations due to staging are present. A framework is developed for the MHT, which...

Topics: Ballistics, Electrical engineering, Nonlinear systems, Flight, Guided missiles, Kalman filtering,...

Autonomous Underwater Vehicles (AUV) currently use varying methods for navigation, but incorporating GPS into those methods is becoming a popular technique. This thesis experimentally evaluates the configuration and implementation of the Navigational Suite within the Naval Postgraduate School's AUV, the ARIES (Acoustic Radio Interactive Exploratory Server). Specific attention is given to the configuration of the vehicle's newly completed DGPS (Differential Global Positioning System). A brief...

Topics: Autonomous Underwater Vehicles, Differential Global Positioning System, Extended Kalman Filtering,...