The scattering-model-based(SMB)speckle filtering for polarimetric SAR(Pol SAR)data is reasonably effective in preserving dominant scattering mechanisms.However,the efficiency strongly depends on the accuracies of both...The scattering-model-based(SMB)speckle filtering for polarimetric SAR(Pol SAR)data is reasonably effective in preserving dominant scattering mechanisms.However,the efficiency strongly depends on the accuracies of both the decomposition and classification of the scattering properties.In addition,a relatively weak speckle reduction particularly in distributed media was reported in the related literatures.In this work,an improved SMB filtering strategy is proposed considering the aforementioned deficiencies.First,the orientation angle compensation is incorporated into the SMB filtering process to remedy the overestimation of the volume scattering contribution in the Freeman-Durden decomposition.In addition,an algorithm to select the homogenous pixels is developed based on the spatial majority rule for adaptive speckle reduction.We demonstrate the superiority of the proposed methods in terms of scattering property preservation and speckle noise reduction using L-band Pol SAR data sets of San Francisco that were acquired by the NASA/JPL airborne SAR(AIRSAR)system.展开更多
This paper focuses on the cubature Kalman filters (CKFs) for the nonlinear dynamic systems with additive process and measurement noise. As is well known, the heart of the CKF is the third-degree spherical–radial cu...This paper focuses on the cubature Kalman filters (CKFs) for the nonlinear dynamic systems with additive process and measurement noise. As is well known, the heart of the CKF is the third-degree spherical–radial cubature rule which makes it possible to compute the integrals encountered in nonlinear filtering problems. However, the rule not only requires computing the integration over an n-dimensional spherical region, but also combines the spherical cubature rule with the radial rule, thereby making it difficult to construct higher-degree CKFs. Moreover, the cubature formula used to construct the CKF has some drawbacks in computation. To address these issues, we present a more general class of the CKFs, which completely abandons the spherical–radial cubature rule. It can be shown that the conventional CKF is a special case of the proposed algorithm. The paper also includes a fifth-degree extension of the CKF. Two target tracking problems are used to verify the proposed algorithm. The results of both experiments demonstrate that the higher-degree CKF outperforms the conventional nonlinear filters in terms of accuracy.展开更多
For solving the issues of the signal reconstruction of nonlinear non-Gaussian signals in wireless sensor networks (WSNs), a new signal reconstruction algorithm based on a cubature Kalman particle filter (CKPF) is ...For solving the issues of the signal reconstruction of nonlinear non-Gaussian signals in wireless sensor networks (WSNs), a new signal reconstruction algorithm based on a cubature Kalman particle filter (CKPF) is proposed in this paper. We model the reconstruction signal first and then use the CKPF to estimate the signal. The CKPF uses a cubature Kalman filter (CKF) to generate the importance proposal distribution of the particle filter and integrates the latest observation, which can approximate the true posterior distribution better. It can improve the estimation accuracy. CKPF uses fewer cubature points than the unscented Kalman particle filter (UKPF) and has less computational overheads. Meanwhile, CKPF uses the square root of the error covariance for iterating and is more stable and accurate than the UKPF counterpart. Simulation results show that the algorithm can reconstruct the observed signals quickly and effectively, at the same time consuming less computational time and with more accuracy than the method based on UKPF.展开更多
A new Gaussian approximation nonlinear filter called generalized cubature quadrature Kalman filter (GCQKF) is introduced for nonlinear dynamic systems. Based on standard GCQKF, two extensions are developed, namely squ...A new Gaussian approximation nonlinear filter called generalized cubature quadrature Kalman filter (GCQKF) is introduced for nonlinear dynamic systems. Based on standard GCQKF, two extensions are developed, namely square root generalized cubature quadrature Kalman filter (SR-GCQKF) and iterated generalized cubature quadrature Kalman filter (I-GCQKF). In SR-GCQKF, the QR decomposition is exploited to alter the Cholesky decomposition and both predicted and filtered error covariances have been propagated in square root format to make sure the numerical stability. In I-GCQKF, the measurement update step is executed iteratively to make full use of the latest measurement and a new terminal criterion is adopted to guarantee the increase of likelihood. Detailed numerical experiments demonstrate the superior performance on both tracking stability and estimation accuracy of I-GCQKF and SR-GCQKF compared with GCQKF.展开更多
In this paper, adaptive sensor fusion INS/GNSS is proposed to solve specific problem of non linear time variant state space estimation with measurement outliers, different algorithms are used to solve this specific pr...In this paper, adaptive sensor fusion INS/GNSS is proposed to solve specific problem of non linear time variant state space estimation with measurement outliers, different algorithms are used to solve this specific problem generally occurs in intentional and non-intentional interferences caused by other radio navigation sources, or by the GNSS receiver’s deterioration. Non linear approximation techniques such as Extended Kalman filter EKF, Sigma Point Kalman Filters such as UKF and CDKF are computed to estimate the navigation states for UAV flight control. Several comparisons are conduced and analyzed in order to compare the accuracy and the convergence of different approaches usually applied in navigation data fusion purposes. The last non linear filter algorithm developed is the Cubature Kalman Filter CKF which provides more accurate estimation with more stability in Tracking data fusion application. In this work, CKF is compared with SPKF and EKF in ideal conditions and during GNSS outliers supposed to occur during specific interval of time, innovation based adaptive approach is selected and used to modify the covariance calculation of the non linear filters performed in this paper. Interesting results are observed, discussed with real perspectives in navigation data fusion for real time applications. Three parallel modified algorithms are simulated and compared to non-adaptive forms according to Root Mean Square Error (RMSE) criteria.展开更多
基金Project(2012CB957702) supported by the National Basic Research Program of ChinaProjects(41590854,41431070,41274024,41321063) supported by the National Natural Science Foundation of ChinaProject(Y205771077) supported by the Hundred Talents Program of the Chinese Academy of Sciences
文摘The scattering-model-based(SMB)speckle filtering for polarimetric SAR(Pol SAR)data is reasonably effective in preserving dominant scattering mechanisms.However,the efficiency strongly depends on the accuracies of both the decomposition and classification of the scattering properties.In addition,a relatively weak speckle reduction particularly in distributed media was reported in the related literatures.In this work,an improved SMB filtering strategy is proposed considering the aforementioned deficiencies.First,the orientation angle compensation is incorporated into the SMB filtering process to remedy the overestimation of the volume scattering contribution in the Freeman-Durden decomposition.In addition,an algorithm to select the homogenous pixels is developed based on the spatial majority rule for adaptive speckle reduction.We demonstrate the superiority of the proposed methods in terms of scattering property preservation and speckle noise reduction using L-band Pol SAR data sets of San Francisco that were acquired by the NASA/JPL airborne SAR(AIRSAR)system.
文摘This paper focuses on the cubature Kalman filters (CKFs) for the nonlinear dynamic systems with additive process and measurement noise. As is well known, the heart of the CKF is the third-degree spherical–radial cubature rule which makes it possible to compute the integrals encountered in nonlinear filtering problems. However, the rule not only requires computing the integration over an n-dimensional spherical region, but also combines the spherical cubature rule with the radial rule, thereby making it difficult to construct higher-degree CKFs. Moreover, the cubature formula used to construct the CKF has some drawbacks in computation. To address these issues, we present a more general class of the CKFs, which completely abandons the spherical–radial cubature rule. It can be shown that the conventional CKF is a special case of the proposed algorithm. The paper also includes a fifth-degree extension of the CKF. Two target tracking problems are used to verify the proposed algorithm. The results of both experiments demonstrate that the higher-degree CKF outperforms the conventional nonlinear filters in terms of accuracy.
基金supported by the National Natural Science Foundation of China(Grant No.60872123)the Joint Fund of the National Natural Science Foundation andthe Guangdong Provincial Natural Science Foundation,China(Grant No.U0835001)+2 种基金the Fundamental Research Funds for the Central Universities of Ministryof Education of China(Grant No.2012ZM0025)the South China University of Technology,Chinathe Fund for Higher-level Talent in GuangdongProvince,China(Grant No.N9101070)
文摘For solving the issues of the signal reconstruction of nonlinear non-Gaussian signals in wireless sensor networks (WSNs), a new signal reconstruction algorithm based on a cubature Kalman particle filter (CKPF) is proposed in this paper. We model the reconstruction signal first and then use the CKPF to estimate the signal. The CKPF uses a cubature Kalman filter (CKF) to generate the importance proposal distribution of the particle filter and integrates the latest observation, which can approximate the true posterior distribution better. It can improve the estimation accuracy. CKPF uses fewer cubature points than the unscented Kalman particle filter (UKPF) and has less computational overheads. Meanwhile, CKPF uses the square root of the error covariance for iterating and is more stable and accurate than the UKPF counterpart. Simulation results show that the algorithm can reconstruct the observed signals quickly and effectively, at the same time consuming less computational time and with more accuracy than the method based on UKPF.
基金supported by the National Natural Science Foundation of China(6147322711472222)+2 种基金the Aerospace Technology Support Fund of China(2014-HT-XGD)the Natural Science Foundation of Shaanxi Province(2015JM6304)the Aeronautical Science Foundation of China(20151353018)
文摘A new Gaussian approximation nonlinear filter called generalized cubature quadrature Kalman filter (GCQKF) is introduced for nonlinear dynamic systems. Based on standard GCQKF, two extensions are developed, namely square root generalized cubature quadrature Kalman filter (SR-GCQKF) and iterated generalized cubature quadrature Kalman filter (I-GCQKF). In SR-GCQKF, the QR decomposition is exploited to alter the Cholesky decomposition and both predicted and filtered error covariances have been propagated in square root format to make sure the numerical stability. In I-GCQKF, the measurement update step is executed iteratively to make full use of the latest measurement and a new terminal criterion is adopted to guarantee the increase of likelihood. Detailed numerical experiments demonstrate the superior performance on both tracking stability and estimation accuracy of I-GCQKF and SR-GCQKF compared with GCQKF.
文摘In this paper, adaptive sensor fusion INS/GNSS is proposed to solve specific problem of non linear time variant state space estimation with measurement outliers, different algorithms are used to solve this specific problem generally occurs in intentional and non-intentional interferences caused by other radio navigation sources, or by the GNSS receiver’s deterioration. Non linear approximation techniques such as Extended Kalman filter EKF, Sigma Point Kalman Filters such as UKF and CDKF are computed to estimate the navigation states for UAV flight control. Several comparisons are conduced and analyzed in order to compare the accuracy and the convergence of different approaches usually applied in navigation data fusion purposes. The last non linear filter algorithm developed is the Cubature Kalman Filter CKF which provides more accurate estimation with more stability in Tracking data fusion application. In this work, CKF is compared with SPKF and EKF in ideal conditions and during GNSS outliers supposed to occur during specific interval of time, innovation based adaptive approach is selected and used to modify the covariance calculation of the non linear filters performed in this paper. Interesting results are observed, discussed with real perspectives in navigation data fusion for real time applications. Three parallel modified algorithms are simulated and compared to non-adaptive forms according to Root Mean Square Error (RMSE) criteria.