scholarly journals Initial Tracking Parameter Estimation of Magnetic Ship Based on PSO

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Jianfei Ma ◽  
Kai Ding ◽  
Bing Yan ◽  
Wen Dong
Keyword(s):  
Filter Bank ◽  
Prior Information ◽  
Unscented Kalman Filter ◽  
Focal Length ◽  
Pso Algorithm ◽  
Estimated Parameters ◽  
Straight Line ◽  
Line Path ◽  
The Magnetic Field ◽  
Double Observer

We consider the problem of tracking a surface magnetic ship as it travels in a straight line path with the exertion of a magnetometer located at the seabed. Note that the initial filter parameters are prior information and the tracking performance depends on the initial filter parameters, and traditional estimation of initial filter parameters is to apply the filter bank algorithm, but there are several obvious defects in this method. In this paper, a novel algorithm based on the particle swarm optimization (PSO) algorithm is proposed to estimate initial parameters of the filter, and the model of uniformly magnetized ellipsoid is adopted to fit the magnetic field of the ship. The simulation results show that, under the condition of no prior information, the estimated ship parameters based on the observation of the single-observer are invalid, whereas the estimated ship parameters based on the observation of the double-observer are valid. Further, the estimated results of real-world recorded magnetic signals show that the ship parameters estimated by PSO based on the double-observer are also valid, as the estimated parameters are used as the initial parameters of the unscented Kalman filter (UKF), and a ship can be tracked effectively by the UKF filter. Moreover, the estimated half focal length can be used as a feature to distinguish noise environment, ships with different sizes, and mine sweepers.

Vector field path following of a full-wing solar-powered Unmanned Aerial Vehicle (UAV) landing based on Dubins path: a lesson from multiple landing failures

2021 ◽  
pp. 1-30
Author(s):  
A. Guo ◽  
Z. Zhou ◽  
R. Wang ◽  
X. Zhao ◽  
X. Zhu
Keyword(s):  
Vector Field ◽  
Path Following ◽  
Endurance Performance ◽  
Electrical Energy ◽  
Lateral Control ◽  
Special Configuration ◽  
Straight Line ◽  
Lateral Distance ◽  
Solar Powered ◽  
Line Path

Abstract The full-wing solar-powered UAV has a large aspect ratio, special configuration, and excellent aerodynamic performance. This UAV converts solar energy into electrical energy for level flight and storage to improve endurance performance. The UAV only uses a differential throttle for lateral control, and the insufficient control capability during crosswind landing results in a large lateral distance bias and leads to multiple landing failures. This paper analyzes 11 landing failures and finds that a large lateral distance bias at the beginning of the approach and the coupling of base and differential throttle control is the main reason for multiple landing failures. To improve the landing performance, a heading angle-based vector field (VF) method is applied to the straight-line and orbit paths following and two novel 3D Dubins landing paths are proposed to reduce the initial lateral control bias. The results show that the straight-line path simulation exhibits similar phenomenon with the practical failure; the single helical path has the highest lateral control accuracy; the left-arc to left-arc (L-L) path avoids the saturation of the differential throttle; and both paths effectively improve the probability of successful landing.

scholarly journals Huber-Based Robust Unscented Kalman Filter Distributed Drive Electric Vehicle State Observation

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 750
Author(s):  
Wenkang Wan ◽  
Jingan Feng ◽  
Bao Song ◽  
Xinxin Li
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
Degrees Of Freedom ◽  
Unscented Kalman Filter ◽  
State Parameter ◽  
State Observation ◽  
Straight Line ◽  
Distributed Drive Electric Vehicle ◽  
Huber Method ◽  
Yaw Moment

Accurate and real-time acquisition of vehicle state parameters is key to improving the performance of vehicle control systems. To improve the accuracy of state parameter estimation for distributed drive electric vehicles, an unscented Kalman filter (UKF) algorithm combined with the Huber method is proposed. In this paper, we introduce the nonlinear modified Dugoff tire model, build a nonlinear three-degrees-of-freedom time-varying parametric vehicle dynamics model, and extend the vehicle mass, the height of the center of gravity, and the yaw moment of inertia, which are significantly influenced by the driving state, into the vehicle state vector. The vehicle state parameter observer was designed using an unscented Kalman filter framework. The Huber cost function was introduced to correct the measured noise and state covariance in real-time to improve the robustness of the observer. The simulation verification of a double-lane change and straight-line driving conditions at constant speed was carried out using the Simulink/Carsim platform. The results show that observation using the Huber-based robust unscented Kalman filter (HRUKF) more realistically reflects the vehicle state in real-time, effectively suppresses the influence of abnormal error and noise, and obtains high observation accuracy.

scholarly journals Extended Kalman Filter for Bearings-Only Tracking

2019 ◽  
Vol 8 (6) ◽  
pp. 637-640 ◽  
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Constant Velocity ◽  
Target Motion ◽  
Passive Mode ◽  
Crucial Issue ◽  
Straight Line ◽  
Optimal Linear ◽  
Target Motion Analysis ◽  
Line Path

Target tracking using bearings-only measurements in passive mode operation of sonar is a crucial issue of underwater tracking. Target motion in underwater scenario is analyzed using bearings-only measurements and calculating parameters like range, course and speed of the target. This is called Target Motion Analysis (TMA). TMA process is highly non-linear as the measurements chosen are nonlinearly related to the selected target state vector and the traditional, optimal linear Kalman filter will not be appropriate to use. It is presumed that the target is moving in straight line path with constant velocity, so Extended Kalman Filter (EKF) is proposed in this paper. The algorithm is simulated for several scenarios using MATLAB. Monte-Carlo runs are performed to evaluate the capability of the algorithm.

Composite finite-time straight-line path-following control of an underactuated surface vessel

2020 ◽  
Vol 357 (16) ◽  
pp. 11496-11517 ◽  
Author(s):  
Qiankang Hou ◽  
Li Ma ◽  
Shihong Ding ◽  
Xiaofei Yang ◽  
Xiangyong Chen
Keyword(s):  
Finite Time ◽  
Path Following ◽  
Path Following Control ◽  
Straight Line ◽  
Line Path ◽  
Surface Vessel

REFRACTION AND REFLECTION OF SONIC ENERGY IN VELOCITY LOGGING

Geophysics ◽  
1961 ◽  
Vol 26 (5) ◽  
pp. 588-600 ◽  
Author(s):  
V. S. Tuman
Keyword(s):  
Field Data ◽  
Empirical Relation ◽  
Straight Line ◽  
Yield Information ◽  
Sonic Energy ◽  
Porosity And Permeability ◽  
Curved Paths ◽  
Line Path ◽  
Sonic Logging

In this paper we have questioned the present accepted concept of straight‐line path of the refracted beam (in velocity logging) as the source of energy for the first arrivals recorded by the receivers. The energy considerations and the field data indicate that possibly we are looking at the curved paths, an idea which so far has not been discussed thoroughly in the literature. Equations are developed for this curve path which are based on Pickett’s empirical relation. Some specific cases were analyzed using the IBM 650. It is evident that these curved paths could be utilized in some cases to yield information about the permeability in situ. In general it is concluded that the field of velocity logging has tremendous potentialities, and there is plenty of room for further research in this area. For example, the development of sonic logging to yield porosity and permeability of the formation in situ is very intriguing. The ideas presented in this paper, after further experimental verification, can also be applied to surface seismic prospecting.

Determining Intrinsic Parameters and Pose of Cameras from Single View with Variable Focal Length

2014 ◽  
Vol 635-637 ◽  
pp. 1011-1017
Author(s):  
Gui Hua Liu ◽  
Hui Min Long
Keyword(s):  
Focal Length ◽  
Pinhole Camera ◽  
Projection Matrix ◽  
Camera Model ◽  
Intrinsic Parameter ◽  
Simulation Data ◽  
Single View ◽  
Estimated Parameters ◽  
Orientation Matrix ◽  
Camera Location

This study claims an algorithm of calibration which is executed on the basis of projection matrix. This algorithm directly estimates intrinsic parameter on the basis of rotation matrix’s unitary orthogonality combined with Cholesky decomposition from the obtained projection matrix. Then, false is excluded by rotation matrix’s determinant constraints, and ultimately, camera location and orientation matrix are obtained and estimated parameters are optimized with the minimum error of reprojection residual being cost function. This algorithm is taken under a pinhole camera model and can calibrate the camera from single view with variable focal length. Both simulation data and true image experiments have proved the feasibility and robustness of this algorithm.

Bimanual control strategies

2018 ◽  
Vol 72 (4) ◽  
pp. 966-978
Author(s):  
Chaoyi Wang ◽  
Charles H Shea
Keyword(s):  
Control Strategy ◽  
Bimanual Coordination ◽  
Control Strategies ◽  
Circular Path ◽  
Coordination Pattern ◽  
Bimanual Control ◽  
Straight Line ◽  
Index Of Difficulty ◽  
Line Path ◽  
Coordination Patterns

Two tasks (A and B) were designed which required participants to sequentially move through four target positions in a Lissajous display. Task A was designed so that participants could complete the task using either unimanual or bimanual control strategies. Task B was designed so that participants could complete the task using relatively simple or more complex bimanual control strategies. The purpose of this study was to determine which control strategy the participant utilises to complete the two tasks when Lissajous displays are provided and to determine the degree to which the size of the targets influences the control strategy chosen under these conditions. The movement amplitude between two adjacent targets and the target size resulted in an Index of Difficulty (ID) of 2 and 4 for each task. For both tasks, participants practised 15 trials (30 s per trial) for each ID and then was administered a test trial. The results for both Tasks A and B indicated that the ID2 condition resulted in a circular path, whereas the ID4 condition resulted in a straight-line path on the Lissajous plot. This suggests that at the low ID condition participants produced a continuous 1:1 with 90° phase offset bimanual coordination pattern. At the high ID condition, the participants consistently chose to switch to a more stable unimanual left and right movements in Task A and to transition between in-phase and anti-phase bimanual coordination patterns in Task B. In addition, both limbs’ movements were more harmonic in the low ID condition than in the high ID condition.

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