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New Variations Of Multiple Model Adaptive Estimation For Improved Tracking And Identification
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Book Synopsis New Variations of Multiple Model Adaptive Estimation for Improved Tracking and Identification by : Christopher K. Nebelecky
Download or read book New Variations of Multiple Model Adaptive Estimation for Improved Tracking and Identification written by Christopher K. Nebelecky and published by . This book was released on 2013 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multiple model adaptive estimation (MMAE) is a recursive algorithm that uses a bank of estimators, each purposefully dependent on a particular hypothesis, to determine an estimate of an uncertain system under consideration while simultaneously tracking the system state. The first generation of MMAE, introduced by Magill in 1965 considered the estimators to act independently and in parallel, determining state estimates conditional with each hypothesis. Through computation of a normalized mode-conditioned likelihood, the conditional probability that each hypothesis correctly models the system is computed. Since Magill's seminal work, many offshoots of MMAE have been developed. Modifications have been reported, but are typically on on an application specific basis which limits their versatility. In this dissertation, two variations of MMAE are considered. The first variation is based on an observed flaw which leads to degenerate tracking performance. The second variation is motivated by previous research which showed improved convergence performance by considering a generalized mode-conditioned likelihood function for determining the hypothesis conditional probabilities. Each estimator, or specifically Kalman filter, is designed around a particular system hypothesis. If the hypothesis is not sufficiently close to the true system, the resulting filter will generally produce erroneous estimates which do not track the system. This is because each filter believes that the hypothesized system is optimal. Further, the state error covariances resulting from such a suboptimal filter will be inconsistent because they have no knowledge of the incorrect hypothesized model. By explicitly accounting for the deviation of the hypothesis, recursions are developed which, when combined with MMAE are shown to provide superior tracking performance over the standard MMAE. Additionally the proposed variation, called model error MMAE, is shown to provide acceptable tracking performance for dynamically switching systems at a fraction of the computational expense of other algorithms specifically developed for that application. The second variation, referred to as generalized multiple model adaptive estimation (GMMAE), uses an augmented vector of current and past residuals to drive the recursion for the hypothesis conditional probabilities. Necessary for that recursion is evaluation of the time-domain autocovariance matrix of the residual sequence. When filtering linear (and linearized) systems, the autocovariance can be analytically expressed as a function of the system matrices, covariances and filter gain. When filtering nonlinear systems using the Unscented filter, analytic expressions for the autocovariance are not possible.^Motivated to include Unscented filters within the GMMAE framework, a method for calculating the time-domain autocovariance of the residual sequence from an Unscented filter is presented. The proposed method is validated analytically on a simplified system and simulation results are presented using the algorithm for process noise estimation in a planar tracking problem.
Book Synopsis Adaptive Estimation and Detection Techniques with Applications by : Jifeng Ru
Download or read book Adaptive Estimation and Detection Techniques with Applications written by Jifeng Ru and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Hybrid systems have been identified as one of the main directions in control theory and attracted increasing attention in recent years due to their huge diversity of engineering applications. Multiple-model (MM) estimation is the state-of-the-art approach to many hybrid estimation problems. Existing MM methods with fixed structure usually perform well for problems that can be handled by a small set of models. However, their performance is limited when the required number of models to achieve a satisfactory accuracy is large due to time evolution of the true mode over a large continuous space. In this research, variable-structure multiple model (VSMM) estimation was investigated, further developed and evaluated. A fundamental solution for on-line adaptation of model sets was developed as well as several VSMM algorithms. These algorithms have been successfully applied to the fields of fault detection and identification as well as target tracking in this thesis. In particular, an integrated framework to detect, identify and estimate failures is developed based on the VSMM. It can handle sequential failures and multiple failures by sensors or actuators. Fault detection and target maneuver detection can be formulated as change-point detection problems in statistics. It is of great importance to have the quickest detection of such mode changes in a hybrid system. Traditional maneuver detectors based on simplistic models are not optimal and are computationally demanding due to the requirement of batch processing. In this presentation, a general sequential testing procedure is proposed for maneuver detection based on advanced sequential tests. It uses a likelihood marginalization technique to cope with the difficulty that the target accelerations are unknown. The approach essentially utilizes a priori information about the accelerations in typical tracking engagements and thus allows improved detection performance. The proposed approach is applicable to change-point detection problems under similar formulation, such as fault detection.
Book Synopsis Generalized Multiple Model Adaptive Estimation by : Badr N. Alsuwaidan
Download or read book Generalized Multiple Model Adaptive Estimation written by Badr N. Alsuwaidan and published by . This book was released on 2008 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: ?Pub Inc In this dissertation a generalized multiple-model adaptive estimator (GMMAE) is presented that can be used to estimate the unknown noise statistics in filter designs. The assumed unknowns in the adaptive estimator are the process noise covariance elements. Multiple parameter elements are used to drive multiple-model parallel filters for state estimation. The current approach focuses on estimating the process noise covariance by sequentially updating weights associated with parameter elements through the calculation of the likelihood function of the measurement-minusestimate residuals, which also incorporates correlations between various measurement times. For linear Gaussian measurement processes the likelihood function is easily determined. For nonlinear Gaussian measurement processes, it is assumed that the linearized output sufficiently captures the statistics of the likelihood function by making the small noise assumption. A proof is provided that shows the convergence properties of the generalized approach versus the traditional multiple-model adaptive estimator (MMAE). Simulation results, involving a two-dimensional target tracking problem ans GPS-based position estimation problem using an extended Kalman filter, indicate that the new approach is able to correctly estimate the noise statistics.
Book Synopsis Estimation with Applications to Tracking and Navigation by : Yaakov Bar-Shalom
Download or read book Estimation with Applications to Tracking and Navigation written by Yaakov Bar-Shalom and published by John Wiley & Sons. This book was released on 2001-06-25 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: Expert coverage of the design and implementation of state estimation algorithms for tracking and navigation Estimation with Applications to Tracking and Navigation treats the estimation of various quantities from inherently inaccurate remote observations. It explains state estimator design using a balanced combination of linear systems, probability, and statistics. The authors provide a review of the necessary background mathematical techniques and offer an overview of the basic concepts in estimation. They then provide detailed treatments of all the major issues in estimation with a focus on applying these techniques to real systems. Other features include: * Problems that apply theoretical material to real-world applications * In-depth coverage of the Interacting Multiple Model (IMM) estimator * Companion DynaEst(TM) software for MATLAB(TM) implementation of Kalman filters and IMM estimators * Design guidelines for tracking filters Suitable for graduate engineering students and engineers working in remote sensors and tracking, Estimation with Applications to Tracking and Navigation provides expert coverage of this important area.
Book Synopsis New Algorithms for Moving-Bank Multiple Model Adaptive Estimation by : Juan R. Vasquez
Download or read book New Algorithms for Moving-Bank Multiple Model Adaptive Estimation written by Juan R. Vasquez and published by . This book was released on 1998-05-01 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: The focus of this research is to provide methods for generating precise parameter estimates in the face of potentially significant parameter variations such as system component failures. The standard Multiple Model Adaptive Estimation (MMAE) algorithm uses a bank of Kalman filters, each based on a different model of the system. A new moving-bank MMAE algorithm is developed based on exploitation of the density data available from the MMAE. The methods used to exploit this information include various measures of the density data and a decision-making logic used to move, expand, and contract the MMAE bank of filters. Parameter discretization within the MMAE refers to selection of the parameter values assumed by the elemental Kalman filters. A new parameter discretization method is developed based on the probabilities associated with the generalized Chi-Squared random variables formed by residual information from the elemental Kalman filters within the MMAE. Modifications to an existing discretization method are also presented, permitting application of this method in real time and to nonlinear system models or linear/linearized models that are unstable or astable. These new algorithms are validated through computer simulation of an aircraft navigation system subjected to interference/jamming while attempting a successful precision landing of the aircraft.
Book Synopsis Practical Implementation of Multiple Model Adaptive Estimation Using Neyman-Pearson Based Hypothesis Testing and Spectral Estimation Tools by : Peter D. Hanlon
Download or read book Practical Implementation of Multiple Model Adaptive Estimation Using Neyman-Pearson Based Hypothesis Testing and Spectral Estimation Tools written by Peter D. Hanlon and published by . This book was released on 1996-09-01 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: This study investigates and develops various modifications to the Multiple Model Adaptive Estimation (MMAE) algorithm. The standard MMAE uses a bank of Kalman filters, each based on a different model of the system. Each of the filters predict the system response, based on its system model, to a given input and form the residual difference between the prediction and sensor measurements of the system response. Model differences in the input matrix, output matrix, and state transition matrix, which respectively correspond to an actuator failure, sensor failure, and an incorrectly modeled flight condition for a flight control failure application, were investigated in this research. An alternative filter bank structure is developed that uses a linear transform on the residual from a single Kalman filter to produce the equivalent residuals of the other Kalman filters in the standard MMAE. A Neyman Pearson based hypothesis testing algorithm is developed that results in significant improvement in failure detection performance when compared to the standard hypothesis testing algorithm. Hypothesis testing using spectral estimation techniques is also developed which provides superior failure identification performance at extremely small input levels.
Book Synopsis Video-Based Surveillance Systems by : Graeme A. Jones
Download or read book Video-Based Surveillance Systems written by Graeme A. Jones and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 277 pages. Available in PDF, EPUB and Kindle. Book excerpt: Monitoring of public and private sites has increasingly become a very sensitive issue resulting in a patchwork of privacy laws varying from country to country -though all aimed at protecting the privacy of the citizen. It is important to remember, however, that monitoring and vi sual surveillance capabilities can also be employed to aid the citizen. The focus of current development is primarily aimed at public and cor porate safety applications including the monitoring of railway stations, airports, and inaccessible or dangerous environments. Future research effort, however, has already targeted citizen-oriented applications such as monitoring assistants for the aged and infirm, route-planning and congestion-avoidance tools, and a range of environment al monitoring applications. The latest generation of surveillance systems has eagerly adopted re cent technological developments to produce a fully digital pipeline of digital image acquisition, digital data transmission and digital record ing. The resultant surveillance products are highly-fiexihle, capahle of generating forensic-quality imagery, and ahle to exploit existing Internet and wide area network services to provide remote monitoring capability.
Book Synopsis Proceedings of the 26th IEEE Conference on Decision and Control by :
Download or read book Proceedings of the 26th IEEE Conference on Decision and Control written by and published by . This book was released on 1987 with total page 804 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Application of Multiple Model Adaptive Estimation Algorithms to Maneuver Detection and Estimation by : J. Korn
Download or read book Application of Multiple Model Adaptive Estimation Algorithms to Maneuver Detection and Estimation written by J. Korn and published by . This book was released on 1983 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 994 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Multiple Model Adaptive Estimation Using Filter Spawning by : Kenneth A. Fisher (2LT, USAF.)
Download or read book Multiple Model Adaptive Estimation Using Filter Spawning written by Kenneth A. Fisher (2LT, USAF.) and published by . This book was released on 1999 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Fault Tolerant Control of Large Civil Aircraft by : Xingjian Wang
Download or read book Fault Tolerant Control of Large Civil Aircraft written by Xingjian Wang and published by Springer Nature. This book was released on with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Information Computing And Automation (In 3 Volumes) - Proceedings Of The International Conference by : Jian Ping Li
Download or read book Information Computing And Automation (In 3 Volumes) - Proceedings Of The International Conference written by Jian Ping Li and published by World Scientific. This book was released on 2008-04-25 with total page 1645 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wavelet analysis and its applications have become one of the fastest growing research areas in the past several years. Wavelet theory has been employed in many fields and applications, such as signal and image processing, communication systems, biomedical imaging, radar, air acoustics, and endless other areas. Active media technology is concerned with the development of autonomous computational or physical entities capable of perceiving, reasoning, adapting, learning, cooperating, and delegating in a dynamic environment.This book consists of carefully selected and received papers presented at the conference, and is an attempt to capture the essence of the current state-of-the-art in wavelet analysis and active media technology. Invited papers included in this proceedings includes contributions from Prof P Zhang, T D Bui, and C Y Suen from Concordia University, Canada; Prof N A Strelkov and V L Dol'nikov from Yaroslavl State University, Russia; Prof Chin-Chen Chang and Ching-Yun Chang from Taiwan; Prof S S Pandey from R D University, India; and Prof I L Bloshanskii from Moscow State Regional University, Russia.
Book Synopsis Proceedings of 2021 Chinese Intelligent Systems Conference by : Yingmin Jia
Download or read book Proceedings of 2021 Chinese Intelligent Systems Conference written by Yingmin Jia and published by Springer Nature. This book was released on 2021-10-07 with total page 909 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 17th Chinese Intelligent Systems Conference, held in Fuzhou, China, on Oct 16-17, 2021. It focuses on new theoretical results and techniques in the field of intelligent systems and control. This is achieved by providing in-depth study on a number of major topics such as Multi-Agent Systems, Complex Networks, Intelligent Robots, Complex System Theory and Swarm Behavior, Event-Triggered Control and Data-Driven Control, Robust and Adaptive Control, Big Data and Brain Science, Process Control, Intelligent Sensor and Detection Technology, Deep learning and Learning Control Guidance, Navigation and Control of Flight Vehicles and so on. The book is particularly suited for readers who are interested in learning intelligent system and control and artificial intelligence. The book can benefit researchers, engineers, and graduate students.
Book Synopsis Proceedings of the IEEE 1985 National Aerospace and Electronics Conference, NAECON 1985 by :
Download or read book Proceedings of the IEEE 1985 National Aerospace and Electronics Conference, NAECON 1985 written by and published by . This book was released on 1985 with total page 946 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Flight mechanics estimation theory symposium 1995 by : Kathy R. Hartman
Download or read book Flight mechanics estimation theory symposium 1995 written by Kathy R. Hartman and published by . This book was released on 1995 with total page 460 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Continuing Kepler's Quest by : National Research Council
Download or read book Continuing Kepler's Quest written by National Research Council and published by National Academies Press. This book was released on 2012-10-06 with total page 82 pages. Available in PDF, EPUB and Kindle. Book excerpt: In February 2009, the commercial communications satellite Iridium 33 collided with the Russian military communications satellite Cosmos 2251. The collision, which was not the first recorded between two satellites in orbit-but the most recent and alarming-produced thousands of pieces of debris, only a small percentage of which could be tracked by sensors located around the world. In early 2007, China tested a kinetic anti-satellite weapon against one of its own satellites, which also generated substantial amounts of space debris. These collisions highlighted the importance of maintaining accurate knowledge, and the associated uncertainty, of the orbit of each object in space. These data are needed to predict close approaches of space objects and to compute the probability of collision so that owners/operators can decide whether or not to make a collision avoidance maneuver by a spacecraft with such capability. The space object catalog currently contains more than 20,000 objects, and when the planned space fence radar becomes operational this number is expected to exceed 100,000. A key task is to determine if objects might come closer to each other, an event known as "conjunction," and the probability that they might collide. The U.S. Air Force is the primary U.S. government organization tasked with maintaining the space object catalog and data on all space objects. This is a complicated task, involving collecting data from a multitude of different sensors-many of which were not specifically designed to track orbiting objects-and fusing the tracking data along with other data, such as data from atmospheric models, to provide predictions of where objects will be in the future. The Committee for the Assessment of the U.S. Air Force's Astrodynamic Standards collected data and heard from numerous people involved in developing and maintaining the current astrodynamics standards for the Air Force Space Command (AFSPC), as well as representatives of the user community, such as NASA and commercial satellite owners and operators. Preventing collisions of space objects, regardless of their ownership, is in the national security interested of the United States. Continuing Kepler's Quest makes recommendations to the AFSPC in order for it to create and expand research programs, design and develop hardware and software, as well as determine which organizations to work with to achieve its goals.
