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A Comprehensive Method for Evaluating Precision of Transfer Alignment on a Moving Base

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Journal of Marine Science and Application 2017年第3期16卷 344-351页

作者： Hongliang Yin Bo Xu Dezheng Liu China Ship Research and Development Academy Beijing 100192 China Department of Precision Instrument Tsinghua University Beijing 100084 China Sckool of Automation Harbin Engineering University Harbin 150001 Ckina

In this study, we propose the use of the Degree of Alignment(DOA) in engineering applications for evaluating the precision of and identifying the transfer alignment on a moving base. First, we derive the statistical formula on the basis of estimations. Next, we design a scheme for evaluating the transfer alignment on a moving base, for which the attitude error cannot be directly measured. Then, we build a mathematic estimation model and discuss Fixed Point Smoothing(FPS), Returns to Scale(RTS), Inverted Sequence Recursive Estimation(ISRE), and kalman filter estimation methods, which can be used when evaluating alignment accuracy. Our theoretical calculations and simulated analyses show that the DOA reflects not only the alignment time and accuracy but also differences in the maneuver schemes, and is suitable for use as an integrated evaluation index. Furthermore, all four of these algorithms can be used to identify the transfer alignment and evaluate its accuracy. We recommend RTS in particular for engineering applications. Generalized DOAs should be calculated according to the tactical requirements.

关键词：排列评估数学评价模型 kalman 应用程序精确性统计公式评价方法

An attitude tracking method for star sensor under dynamic conditions

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Optoelectronics Letters 2019年第5期15卷 368-373页

作者：王军何昕魏仲慧吕游何丁龙穆治亚凌剑勇马泽龙 Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun 130033 China University of Chinese Academy of Sciences Beijing 100049 China

The tracking performance of star sensor degrades seriously under dynamic conditions. To improve the tracking accuracy and efficiency, an attitude tracking method based on unscented kalman filter(UKF) and singular value decomposition(SVD) is proposed in this paper. The star sensor is modeled as a nonlinear stochastic system, the state of which is attitude quaternion. The quaternion can be estimated by UKF, then the predicted attitude and corresponding star positions are obtained. To ensure the stability of attitude tracking, SVD is applied to obtain the sigma points in UKF continuously. The experimental results indicate that the proposed method yields high accuracy and efficiency in attitude tracking. This method provides a practical approach to ensure the tracking performance of star sensor under dynamic conditions.

关键词： unscented kalman filter(UKF) singular value decomposition(SVD) tracking accuracy

Progressive iterative channel estimation in fast time-varying OFDM systems

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The Journal of China Universities of Posts and Telecommunications 2014年第4期21卷 8-14页

作者： YANG Rui-zhe YE Si-yang ZHANG Yan-hua SUN Yan-hua YU Richard College of Electronics Information and Control Engineering Beijing University of Technology Department of Systems and Computer Engineering Carleton University

Considering the joint channel estimation and data detection in time-varying orthogonal frequency division multiplexing （OFDM） and addressing transmission performance degradation induced by the severe inter-carrier interference （ICI） at very high speed, a new progressive iterative channel estimation scheme is proposed. To alleviate the error propagation of the inaccurate data due to ICI, the measurement subcarriers in the kalman filter is designed to be extended from pilots subcarriers to all the subcarriers progressively through the iterations. Furthermore, in iteration process, the interference of the non-pilot data to the measurement subcarriers is considered to be part of noise in the modified kalman filter, which improves the estimation accuracy. Simulation indicates that the proposed scheme improves the performance in fast time-varying situation.

关键词： time-varying OFDM channel estimation ICI progressive kalman

基于SiamCAR与kalman滤波的红外地面目标抗遮挡跟踪算法

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光电技术应用 2023年第4期38卷 33-40页

作者：朱卓付国栋刘琦妍杨尧中国电子科技集团公司光电研究院天津西北工业大学无人系统技术研究院西安

针对红外地面目标跟踪过程中,由于背景遮挡造成的跟踪鲁棒性差,甚至丢失目标的问题,提出SiamCAR-Kal算法。该算法在SiamCAR算法基础上利用分类分支的响应对遮挡状态进行判定,并利用kalman滤波算法基于历史信息预测目标位置。针对长时全... 详细信息

针对红外地面目标跟踪过程中,由于背景遮挡造成的跟踪鲁棒性差,甚至丢失目标的问题,提出SiamCAR-Kal算法。该算法在SiamCAR算法基础上利用分类分支的响应对遮挡状态进行判定,并利用kalman滤波算法基于历史信息预测目标位置。针对长时全遮挡kalman滤波精度低的问题,提出扩张搜索策略,对目标进行重新捕获。实验结果表明,所提算法可以有效提升跟踪精度,并解决因遮挡导致的目标丢失问题。对红外地面目标序列进行测试,对比已有典型SiamCAR跟踪算法,该算法在OPE评价指标下,成功率提升3.2%、精确度提升4.5%。

关键词：抗遮挡红外地面目标 SiamCAR kalman

kalman滤波分光光度法同时测定镧铈镨钕

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冶金分析 1991年第6期 15-18页

作者：张正奇陈兆鹏曹祉祥唐湘张郁葱湖南大学化学化工系长沙湖南大学化学化工系

研究了稀土元素与对溴偶氮胂的显色反应,提出了用kalman滤波分光光度法同时测定稀土元素的方法,用于铝合金中铈组稀土元素测定,结果满意.

关键词：估计值轻稀土稀土族新息组份 kalman 偶氮稀土元素 ⅢB族元素分光光度法滤波递推算法同时测定矩阵数学分析

基于kalman滤波飞机换热器故障诊断研究

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系统仿真学报 2013年第3期25卷 552-557页

作者：何杰朱磊赵竞全北京航空航天大学航空科学与工程学院北京100191

以飞机环境控制系统部件换热器为研究对象进行故障诊断研究,在建立换热器动态模型的基础上,选择基于参数估计的卡尔曼滤波(kalman)法对换热器物理参数进行辨识,主要分析了单一故障和双故障发生时,换热器物理参数变动情况。仿真研究中,... 详细信息

以飞机环境控制系统部件换热器为研究对象进行故障诊断研究,在建立换热器动态模型的基础上,选择基于参数估计的卡尔曼滤波(kalman)法对换热器物理参数进行辨识,主要分析了单一故障和双故障发生时,换热器物理参数变动情况。仿真研究中,根据输入输出数据,辨识出物理参数的变动,实现故障检测和分离。结果表明,kalman法可以准确辨识换热器物理参数变动,实现换热器故障诊断,同时得到了换热器物理参数与故障模式的对应关系,对实际工程中换热器故障诊断有一定的指导作用。

关键词：换热器故障诊断 kalman 物理参数故障模式

Wind disturbance rejection control based on the dynamic parameters estimation of quadrotors UAV

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High Technology Letters 2019年第4期25卷 443-451页

作者：杨艳华 Chen Yang School of Information Science and Engineering Wuhan University of Science and TechnologyWuhan 430081P.R.China Engineering Research Centre for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan 430081P.R.China

The turbulence or gust in quadrotor flight environment causes drastic changes in the unmanned aerial vehicle(UAV)aerodynamic parameters.Especially,rotor thrust coefficient and reaction torque coefficient of the UAV encounter uncertainty fluctuation,which may undermine the control performance.A real-time estimation strategy for these aerodynamic parameters is proposed to improve the identification on the disturbance.First,the unscented kalman filter(UKF)algorithm is used to estimate the UAV states and aerodynamic parameters.Then,a double-loop structure,consisting of position and attitude,is designed for the trajectory tracking control.In the outer loop,a proportional-derivative controller is adopted to carry out position tracking and provide Euler angle references for the inner loop,called attitude controller.Moreover,the attitude controller is designed using an inverse dynamic technique.The main contribution of this study is to propose a joint estimation on the aerodynamic parameters with wind disturbance as well as the UAV states.This strategy plays an important role in refining time-varying parameters of wind disturbance.A number of simulations are executed to verify the effectiveness of the proposed method.

关键词： unscented kalman filter(UKF) joint estimation wind disturbance unmanned aerial vehicle(UAV) quadrotor

基于改进YOLOv5+kalman的动态手势识别跟踪算法研究

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软件工程 2023年第7期26卷 17-20页

作者：张睿敏杜叔强周秀媛兰州工业学院计算机与人工智能学院甘肃兰州730050

针对在边缘端算力较弱的设备上,动态手势检测模型较大、检测时间较长的问题,提出了以YOLOv5网络为基础的动态手势识别跟踪算法。首先在YOLOv5网络模型上添加自适应注意力模块输出大小相同的张量,添加特征增强模块弥补高层特征层的信息损... 详细信息

针对在边缘端算力较弱的设备上,动态手势检测模型较大、检测时间较长的问题,提出了以YOLOv5网络为基础的动态手势识别跟踪算法。首先在YOLOv5网络模型上添加自适应注意力模块输出大小相同的张量,添加特征增强模块弥补高层特征层的信息损失,提高特征金字塔的表示能力。其次使用kalman滤波器预测机,形成有预测机制的动态手势识别跟踪算法。预测跟踪时,把短时的手部运动粗略地看成是一种恒定的运动,即在设定的非常短的时间内目标的状态是不变的,也就是相邻两帧图像状态差异不大,所以手势的运动模型采用的是等速度运动模型。利用大量正负样本训练模型,证明算法能实时地对13种动态手势进行识别和跟踪,识别准确率达到99.6%。

关键词：改进YOLOv5 动态手势 kalman 预测跟踪

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kalman滤波用于色谱重叠峰的辨析

科学通报 1992年第9期37卷 804-806页

作者：石乐明楼蔓藤李梦龙林润国李志良中国科学院化工冶金研究所北京100080 广州分析测试中心广州510070 湖南大学化学化工系长沙410082 广西化工研究所环保室南宁530000

色谱系使用最广泛的分析测试手段之一,与光谱分析一样,经常遇到谱图重叠的问题,影响分析测定。对于部分重叠色谱峰可采用较直观的垂线法、切线法分辨;但对于严重重叠峰,这些方法往往效果不佳。为此有的学者提出用函数拟合的分峰方法。

关键词： kalman 色谱重叠峰滤波