Conventional spherical simplex-radial cubature Kalman filter (SSRCKF) for maneuvering target tracking may decline in accuracy and even diverge when a target makes abrupt state changes. To overcome this problem, a novel algorithm named strong tracking...
The cubature Kalman filter (CKF) is widely used in the application of GPS/INS integrated navigation systems. However, its performance may decline in accuracy and even diverge in the presence of process uncertainties. To solve the problem, a new algor...
Aircraft icing degrades aerodynamic performance and poses safety risks, especially under nonlinear and uncertain conditions. In order to identify inflight icing in real time, this work proposes a Strong Tracking Unscented Kalman Filter (STUKF) which...
Kalman filtering is a common filtering method for millimeter-wave traffic radars. The proposal is for an Adaptive Strong Tracking Extended Kalman Filter (EKF) algorithm that aims to address the issues of classic EKF’s low accuracy and lengthy c...
We propose a method for online sensor fault detection that is based on the evolving Strong Tracking Filter (STCKF). The cubature rule is used to estimate states to improve the accuracy of making estimates in a nonlinear case. A residual is the differ...
For the problems of Non-Line-of-Sight (NLOS) observation errors and inaccurate predictive dynamics model in wireless ultra-wideband (UWB) positioning systems, an improved strong tracking cubature Kalman filter (ISTCKF) positioning algorithm is propos...
The accuracy of state-of-charge (SOC) estimation, one of the most important functions of a battery management system (BMS), is the basis for the proper operation of an electric vehicle. This study proposes a method for accurate SOC estimation. To ach...
Assuming that the measurement and process noise covariances are known, the probability hypothesis density (PHD) filter is effective in real-time multi-target tracking; however, noise covariance is often unknown and time-varying for an actual scene. T...
The carrier-to-noise ratio (C/N0) is an important indicator of the signal quality of global navigation satellite system receivers. In a vector receiver, estimating C/N0 using a signal amplitude Kalman filter is a typical method. However, the classica...
To suppress inertial navigation system drift and improve the seamless navigation capability of microelectromechanical system-inertial navigation systems/geomagnetic navigation systems (MEMS-INS/MNS) in geomagnetically unlocked environments, this pape...
The operation of walking excavators on rugged terrain often leads to leg lift-off, which can result in uneven force distribution, accelerated structural wear, and even systemic instability. To address these issues, this paper proposes a coordinated c...
The estimation of state of charge (SOC) is a crucial evaluation index in a battery management system (BMS). The value of SOC indicates the remaining capacity of a battery, which provides a good guarantee of safety and reliability of battery operation...
We present an adaptive algorithm for a system integrated with micro-electro-mechanical systems (MEMS) gyroscopes and a compass to eliminate the influence from the environment, compensate the temperature drift precisely, and improve the accuracy of t...
This paper presents a new nonlinear filtering method based on the Hunt-Crossley model for online nonlinear soft tissue characterization. This method overcomes the problem of performance degradation in the unscented Kalman filter due to contact model...
The ability to quickly and accurately estimate the state of charge (SOC) of lithium batteries is a key function of the battery management system (BMS). To enhance the accuracy of SOC estimation for lithium batteries, we propose a method that combines...
The tracking accuracy of the traditional Strong Tracking Unscented Kalman Filter algorithm (ST-UKF) decreases when the motion state of the traffic target changes significantly. A multidimensional adaptive factor-based strong tracking UKF (MAST-UKF) a...
Reliability is pivotal significance for switched reluctance machine drives (SRD) applied to safety essential transportation and industrial fields. An inter-turn shorted-circuit fault (ISCF) could incite the machine to operate in unbalanced status, re...
The motion state of a quadruped robot in operation changes constantly. Due to the drift caused by the accumulative error, the function of the inertial measurement unit (IMU) will be limited. Even though multi-sensor fusion technology is adopted, the...
An adaptive weighted strong tracking unscented Kalman filter is proposed in this paper for long-range relative navigation alongside non-cooperative maneuvering targets. First, an equation for obtaining the relative motion of two bodies is derived, it...
To address the diverse requirements of accuracy and robustness in integrated navigation for unmanned aerial vehicles, an interactive robust filter algorithm that integrates the interactive multiple model concept and leverages the complementary applic...
In order to solve the problems of filtering divergence and low accuracy in Kalman filter (KF) applications in a high-speed unmanned aerial vehicle (UAV), this paper proposed a new method of integrated robust adaptive Kalman filter: strong adaptive Ka...
An adaptive constant acceleration (ACA) model is proposed for the maneuvering target tracking problem. Based on the Taylor series expansion of acceleration, we establish the relationship between the Jerk and the velocity as well as the acceleration s...
Hypersonic targets have complex motion states and high maneuverability. The traditional interactive multi-model (IMM) has low tracking accuracy and a slow convergence speed. Therefore, this paper proposes a strong tracking cubature Kalman filter (CKF...
To address contact force estimation and compliant control for biomimetic robotic arms interacting with uncertain environments, an adaptive variable-damping impedance control method based on a fuzzy-controlled forgetting-factor strong tracking Kalman...
In this paper, we propose a mobile target tracking method for airport movement areas based on an adaptive interacting multiple model framework combined with a strong tracking unscented Kalman filter, referred to as the AIMM-STUKF algorithm. The objec...
The angular position measurement of an array antenna based on a wireless signal has high accuracy in an indoor no-occlusion environment. However, due to the high complexity of indoor environments, signal occlusion, multipath, and other interfering fa...
Accurate battery modeling is essential for the state-of-charge (SOC) estimation of electric vehicles, especially when vehicles are operated in dynamic processes. Temperature is a significant factor for battery characteristics, especially for the hyst...
Road slope is an essential parameter in the study of vehicle driving processes. In future traffic development, constructing road segments with slopes is indispensable. Furthermore, road slope is a fundamental parameter for realizing energy recovery d...
Dual-axis rotational inertial navigation systems (DRINSs) have been widely used in marine navigation due to their high accuracy. However, the long-term operation of a DRINS over weeks poses a significant challenge to its reliability. In order to addr...
To enhance the path-tracking accuracy of unmanned articulated road roller (UARR) operating on low-adhesion, slippery surfaces, this paper proposes a hierarchical cascaded control (HCC) architecture integrated with real-time ground adhesion coefficien...
The micro-electro-mechanical-system (MEMS) inertial measurement unit (IMU) has been widely used in the field of inertial navigation due to its small size, low cost, and light weight, but aligning MEMS IMUs remains a challenge for researchers. MEMS IM...
In this paper, for the needs of high-precision and high-continuity localization in complex environments, a modeling method based on time-varying noise and outlier noise is proposed, and variational Bayesian strong tracking filtering is used for 5G/IN...
Accurate state of charge (SOC) estimation is helpful for battery management systems to extend batteries’ lifespan and ensure the safety of batteries. However, due to the pseudo-positive definiteness of the covariance matrix and noise statistics...
Based on a fractional-order equivalent circuit model, this paper proposes a multi-timescale collaborative State of Energy (SOE) and State of Health (SOH) estimation method (FOASTFREKF-EKF) for lithium batteries to mitigate the influence of model inac...
Gas turbine converts chemical energy into mechanical energy and provide energy for aircraft, ships, etc. The performance diagnosis of rotating components of gas turbine are essential in terms of the high failure rate of these parts. A problem that th...
LFM signals are widely applied in radar, communication, sonar and many other fields. LFM signals received by these systems contain a lot of noise and outliers. In order to suppress the interference of strong impulse noise on target signals and realiz...
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Strong nonlinearity between Doppler measurement and target motion in Doppler radar target tracking leads to the inadequate utilization of measurement information and limited tracking accuracy. We solved this problem by combining converted state Kalma...
At present, the tracking accuracy of underwater passive target tracking is often limited due to models that are overly simple, with low complexity, poor universality, and an inability to learn. In this paper, a cubature Kalman filter (CKF) algorithm...
This paper presents the study of integrating a deep motion model into simple online and real-time tracking for video multi-object tracking. The tracking-by-detection paradigm faces significant challenges in handling nonlinear motion and occlusions. A...
With the development of remote sensing earth observation technology, object tracking has gained attention for its broad application prospects in computer vision. However, object tracking is challenging owing to the background clutter, occlusion, and...
With the increasing demand for high-sensitivity signal tracking in complex environments, GNSS receiver technologies have continuously evolved in both architecture and algorithmic design. This paper presents a systematic review of the development of h...
The effective detection of unmanned aerial vehicle (UAV) targets is of great significance to guarantee national military security and social stability. In recent years, with the development of communication and control technology, the movement of UAV...
This paper investigates the AUV region-tracking control problem with measurement noise and transient and steady-state constraints. To achieve the fluctuation of AUV tracking error within an expected region while satisfying the transient and steady-st...
For manoeuvring surface target tracking in the presence of glint noise, Huber-based Kalman filters have been widely regarded as effective. However, when the proportion of outlier measurements is high, their numerical stability and estimation accuracy...
Unmanned aerial vehicles (UAVs) will become an indispensable part of future sixth-generation (6G)-based mobile networks that can provide flexible deposition, strong adaptability, and high service quality. Under the guarantee of blockchain, UAVs can p...
This paper focuses on an improved square root unscented Kalman filter (SRUKF) and its application for rotor speed and position estimation of permanent magnet synchronous motor (PMSM). The approach, which combines the SRUKF and strong tracking filter,...
In environments with a low signal-to-reverberation ratio (SRR) characterized by fluctuations in clutter number and distribution, particle filter-based tracking methods may experience significant fluctuations in the posterior probability of existence....
In this work, we present a novel scheme for nonlinear hyperspherical estimation using the von Mises–Fisher distribution. Deterministic sample sets with an isotropic layout are exploited for the efficient and informative representation of the underlyi...
Modern target tracking systems rely on radar as a sensor to detect targets and generate raw track points. These raw track points are affected by the radar’s own noise and the asymmetric non-Gaussian noise resulting from the nonlinear transforma...
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