To improve the low tracking precision caused by lagged filter gain or imprecise state noise when the target highly maneuvers, a modified unscented Kalman filter algorithm based on the improved filter gain and adaptive...To improve the low tracking precision caused by lagged filter gain or imprecise state noise when the target highly maneuvers, a modified unscented Kalman filter algorithm based on the improved filter gain and adaptive scale factor of state noise is presented. In every filter process, the estimated scale factor is used to update the state noise covariance Qk, and the improved filter gain is obtained in the filter process of unscented Kalman filter （UKF） via predicted variance Pk｜k-1, which is similar to the standard Kalman filter. Simulation results show that the proposed algorithm provides better accuracy and ability to adapt to the highly maneuvering target compared with the standard UKF.展开更多
This paper clarifies the steady-state properties and performance of an α-β filter for moving target tracking using both position and velocity measurements. We call this filter velocity measured α-β (VM-α-β) filt...This paper clarifies the steady-state properties and performance of an α-β filter for moving target tracking using both position and velocity measurements. We call this filter velocity measured α-β (VM-α-β) filter. We first derive the stability condition and steady-state predicted errors as fundamental properties of the VM-α-β filter. The optimal gains for representative motion models are then derived from the Kalman filter equations. Theoretical and numerical analyses verify that VM-α-β filters with these optimal gains realize more accurate tracking than conventional α-β filters when the filter gains are relatively large. Our study reveals the conditions under which the predicted errors of the VM-α-β filters are less than those of conventional α-β filters. Moreover, numerical simulations clarify that the variance of the tracking error of the VM-α-β filters is approximately 3/4 of that of the conventional α-β filters in realistic situations, even when the accuracy of the position/velocity measurements is the same.展开更多
The conventional Kalman filter is based on the assumption of non-delayed measurements. Several modifications appear to address this problem, but they are constrained by two crucial assumptions: 1) the delay is an inte...The conventional Kalman filter is based on the assumption of non-delayed measurements. Several modifications appear to address this problem, but they are constrained by two crucial assumptions: 1) the delay is an integer multiple of the sampling interval, and 2) a stochastic model representing the relationship between delayed measurements and a sequence of possible non-delayed measurements is known. Practical problems often fail to satisfy these assumptions, leading to poor estimation accuracy and frequent track-failure. This paper introduces a new variant of the Kalman filter, which is free from the stochastic model requirement and addresses the problem of fractional delay.The proposed algorithm fixes the maximum delay(problem specific), which can be tuned by the practitioners for varying delay possibilities. A sequence of hypothetically defined intermediate instants characterizes fractional delays while maximum likelihood based delay identification could preclude the stochastic model requirement. Fractional delay realization could help in improving estimation accuracy. Moreover, precluding the need of a stochastic model could enhance the practical applicability. A comparative analysis with ordinary Kalman filter shows the high estimation accuracy of the proposed method in the presence of delay.展开更多
The nonlinear filtering for a class of discrete-time stochastic dynamic systems whose measurement equations contain linear (or universal linearizable) components and nonlinear components which are mutually statistical...The nonlinear filtering for a class of discrete-time stochastic dynamic systems whose measurement equations contain linear (or universal linearizable) components and nonlinear components which are mutually statistical independent is investigated. A two-step measurement update is proposed for the filtering of the systems. The first-step update is a linear (or universal linearization) measurement correction which introduces an intermediate estimate, while the second-step nonlinear linearization update produces the final posterior estimate based on the first-step estimate. Since the first measurement correction is a linear or universal linearization update, it provides an accurate linearization reference point for the second nonlinear measurement update. Two simulation examples show superiority of the new estimation method.展开更多
In this paper, an adaptive fuzzy robust feedback control approach is proposed for a class of single-input and singleoutput （SISO） strict-feedback nonlinear systems with unknown nonlinear functions, time delays, unkn...In this paper, an adaptive fuzzy robust feedback control approach is proposed for a class of single-input and singleoutput （SISO） strict-feedback nonlinear systems with unknown nonlinear functions, time delays, unknown high-frequency gain sign, and without the measurements of the states. In the backstepping recursive design, fuzzy logic systems are employed to approximate the unknown smooth nonlinear functions, K-filters is designed to estimate the unmeasured states, and Nussbaum gain functions are introduced to solve the problem of unknown sign of high-frequency gain. By combining adaptive fuzzy control theory and adaptive backstepping design, a stable adaptive fuzzy output feedback control scheme is developed. It has been proven that the proposed adaptive fuzzy robust control approach can guarantee that all the signals of the closed-loop system are uniformly ultimately bounded and the tracking error can converge to a small neighborhood of the origin by appropriately choosing design parameters. Simulation results have shown the effectiveness of the proposed method.展开更多
In this paper a comparison of a sixth-order active band pass R-filter output response with the output response of a sixth-order band pass RC-filter at different quality factors (Q = 2, 5, 7, 8 and 10) was carried out ...In this paper a comparison of a sixth-order active band pass R-filter output response with the output response of a sixth-order band pass RC-filter at different quality factors (Q = 2, 5, 7, 8 and 10) was carried out at a fixed frequency of 10 KHz. The architecture used in the design is the multiple feedbacks for both filter networks. The simulated response characteristics show that both filters (R- and RC-filters) have their mid-band gains increasing with Q, while their bandwidths monotonically decreased with Q-values. The bandwidths are in the range of 22.23 dB to 62.97 dB and –55.49 dB to –50.81 dB (Q = 2 to 10) for R- and RC-filters respectively. At higher Q-values, R-filter showed better selectivity with a smaller bandwidth (400 Hz) at the edge of the pass band, when compared to 450 Hz for the RC-filter. The roll-off rate around –58.9 dB/decade for the R-filter appears to be that of a third-order filter response, while the RC-filter has its response in the range –106 to –132 dB/decade which is in the neighbourhood of an ideal sixth-order response (roll-off of 120 db/decade). A shift in the center frequency with Q was observed for the RC-filter only.展开更多
The unity gain buffer will be good to design high frequency SCF if its resistiveeffects can be eliminated,and therefore the whole parasitic sensitivities will greatly be reduced.On the basis of this concept,a novel pa...The unity gain buffer will be good to design high frequency SCF if its resistiveeffects can be eliminated,and therefore the whole parasitic sensitivities will greatly be reduced.On the basis of this concept,a novel parasitic tolerant SC DTE(differential transconductanceelement)is proposed.SC floating inductor and integrator fit for high frequency applications areformed by the DTE.The computer simulation and experiment on a third order elliptic LP filterverify its validity.展开更多
A new approach for designing the Biorthogonal Wavelet Filter Bank (BWFB) for the purpose of image compression is presented in this letter. The approach is decomposed into two steps. First, an optimal filter bank is de...A new approach for designing the Biorthogonal Wavelet Filter Bank (BWFB) for the purpose of image compression is presented in this letter. The approach is decomposed into two steps. First, an optimal filter bank is designed in theoretical sense based on Vaidyanathan’s coding gain criterion in SubBand Coding (SBC) system. Then the above filter bank is optimized based on the criterion of Peak Signal-to-Noise Ratio (PSNR) in JPEG2000 image compression system, resulting in a BWFB in practical application sense. With the approach, a series of BWFB for a specific class of applications related to image compression, such as remote sensing images, can be fast designed. Here, new 5/3 BWFB and 9/7 BWFB are presented based on the above approach for the remote sensing image compression applications. Experiments show that the two filter banks are equally performed with respect to CDF 9/7 and LT 5/3 filter in JPEG2000 standard; at the same time, the coefficients and the lifting parameters of the lifting scheme are all rational, which bring the computational advantage, and the ease for VLSI implementation.展开更多
This paper proposes third order tunable bandwidth active Switched-Capacitor filter. The circuit consists of only op-amps and switched capacitors. The circuit is designed for circuit merit factor Q = 10. The proposed c...This paper proposes third order tunable bandwidth active Switched-Capacitor filter. The circuit consists of only op-amps and switched capacitors. The circuit is designed for circuit merit factor Q = 10. The proposed circuit implements three filter functions low pass, band pass and high pass simultaneously in single circuit. The filter circuit can be used for both narrow as well as for wide bandwidth. For various values of cut-off frequencies the behaviour of circuit is studied. The circuit works properly only for higher central frequencies, when f0 > 10 kHz.展开更多
基金supported by the National Natural Science Fundationof China(61102109)
文摘To improve the low tracking precision caused by lagged filter gain or imprecise state noise when the target highly maneuvers, a modified unscented Kalman filter algorithm based on the improved filter gain and adaptive scale factor of state noise is presented. In every filter process, the estimated scale factor is used to update the state noise covariance Qk, and the improved filter gain is obtained in the filter process of unscented Kalman filter （UKF） via predicted variance Pk｜k-1, which is similar to the standard Kalman filter. Simulation results show that the proposed algorithm provides better accuracy and ability to adapt to the highly maneuvering target compared with the standard UKF.
文摘This paper clarifies the steady-state properties and performance of an α-β filter for moving target tracking using both position and velocity measurements. We call this filter velocity measured α-β (VM-α-β) filter. We first derive the stability condition and steady-state predicted errors as fundamental properties of the VM-α-β filter. The optimal gains for representative motion models are then derived from the Kalman filter equations. Theoretical and numerical analyses verify that VM-α-β filters with these optimal gains realize more accurate tracking than conventional α-β filters when the filter gains are relatively large. Our study reveals the conditions under which the predicted errors of the VM-α-β filters are less than those of conventional α-β filters. Moreover, numerical simulations clarify that the variance of the tracking error of the VM-α-β filters is approximately 3/4 of that of the conventional α-β filters in realistic situations, even when the accuracy of the position/velocity measurements is the same.
基金Supported by National Basic Research Program of China （973 Program） （2009CB320604）, the State Key Program of National Natural Science Foundation of China （60534010）, National Natural Science Foundation of China （60674021）, the Funds for Creative Research Groups of China （60821063）, the 111 Project （B08015）, and the Funds of Doctoral Program of Ministry of Education, China （20060145019）
基金supported by the Department of Science and Technology,Government of India under the Inspire Faculty Award
文摘The conventional Kalman filter is based on the assumption of non-delayed measurements. Several modifications appear to address this problem, but they are constrained by two crucial assumptions: 1) the delay is an integer multiple of the sampling interval, and 2) a stochastic model representing the relationship between delayed measurements and a sequence of possible non-delayed measurements is known. Practical problems often fail to satisfy these assumptions, leading to poor estimation accuracy and frequent track-failure. This paper introduces a new variant of the Kalman filter, which is free from the stochastic model requirement and addresses the problem of fractional delay.The proposed algorithm fixes the maximum delay(problem specific), which can be tuned by the practitioners for varying delay possibilities. A sequence of hypothetically defined intermediate instants characterizes fractional delays while maximum likelihood based delay identification could preclude the stochastic model requirement. Fractional delay realization could help in improving estimation accuracy. Moreover, precluding the need of a stochastic model could enhance the practical applicability. A comparative analysis with ordinary Kalman filter shows the high estimation accuracy of the proposed method in the presence of delay.
文摘The nonlinear filtering for a class of discrete-time stochastic dynamic systems whose measurement equations contain linear (or universal linearizable) components and nonlinear components which are mutually statistical independent is investigated. A two-step measurement update is proposed for the filtering of the systems. The first-step update is a linear (or universal linearization) measurement correction which introduces an intermediate estimate, while the second-step nonlinear linearization update produces the final posterior estimate based on the first-step estimate. Since the first measurement correction is a linear or universal linearization update, it provides an accurate linearization reference point for the second nonlinear measurement update. Two simulation examples show superiority of the new estimation method.
基金supported by National Natural Science Foundation of China (No. 61074014)the Outstanding Youth Funds of Liaoning Province (No. 2005219001)Educational Department of Liaoning Province (No. 2006R29, No. 2007T80)
文摘In this paper, an adaptive fuzzy robust feedback control approach is proposed for a class of single-input and singleoutput （SISO） strict-feedback nonlinear systems with unknown nonlinear functions, time delays, unknown high-frequency gain sign, and without the measurements of the states. In the backstepping recursive design, fuzzy logic systems are employed to approximate the unknown smooth nonlinear functions, K-filters is designed to estimate the unmeasured states, and Nussbaum gain functions are introduced to solve the problem of unknown sign of high-frequency gain. By combining adaptive fuzzy control theory and adaptive backstepping design, a stable adaptive fuzzy output feedback control scheme is developed. It has been proven that the proposed adaptive fuzzy robust control approach can guarantee that all the signals of the closed-loop system are uniformly ultimately bounded and the tracking error can converge to a small neighborhood of the origin by appropriately choosing design parameters. Simulation results have shown the effectiveness of the proposed method.
文摘In this paper a comparison of a sixth-order active band pass R-filter output response with the output response of a sixth-order band pass RC-filter at different quality factors (Q = 2, 5, 7, 8 and 10) was carried out at a fixed frequency of 10 KHz. The architecture used in the design is the multiple feedbacks for both filter networks. The simulated response characteristics show that both filters (R- and RC-filters) have their mid-band gains increasing with Q, while their bandwidths monotonically decreased with Q-values. The bandwidths are in the range of 22.23 dB to 62.97 dB and –55.49 dB to –50.81 dB (Q = 2 to 10) for R- and RC-filters respectively. At higher Q-values, R-filter showed better selectivity with a smaller bandwidth (400 Hz) at the edge of the pass band, when compared to 450 Hz for the RC-filter. The roll-off rate around –58.9 dB/decade for the R-filter appears to be that of a third-order filter response, while the RC-filter has its response in the range –106 to –132 dB/decade which is in the neighbourhood of an ideal sixth-order response (roll-off of 120 db/decade). A shift in the center frequency with Q was observed for the RC-filter only.
文摘The unity gain buffer will be good to design high frequency SCF if its resistiveeffects can be eliminated,and therefore the whole parasitic sensitivities will greatly be reduced.On the basis of this concept,a novel parasitic tolerant SC DTE(differential transconductanceelement)is proposed.SC floating inductor and integrator fit for high frequency applications areformed by the DTE.The computer simulation and experiment on a third order elliptic LP filterverify its validity.
基金Supported by the National Natural Science Foundation of China (No.60021302, No.60635050 and No.60405004).
文摘A new approach for designing the Biorthogonal Wavelet Filter Bank (BWFB) for the purpose of image compression is presented in this letter. The approach is decomposed into two steps. First, an optimal filter bank is designed in theoretical sense based on Vaidyanathan’s coding gain criterion in SubBand Coding (SBC) system. Then the above filter bank is optimized based on the criterion of Peak Signal-to-Noise Ratio (PSNR) in JPEG2000 image compression system, resulting in a BWFB in practical application sense. With the approach, a series of BWFB for a specific class of applications related to image compression, such as remote sensing images, can be fast designed. Here, new 5/3 BWFB and 9/7 BWFB are presented based on the above approach for the remote sensing image compression applications. Experiments show that the two filter banks are equally performed with respect to CDF 9/7 and LT 5/3 filter in JPEG2000 standard; at the same time, the coefficients and the lifting parameters of the lifting scheme are all rational, which bring the computational advantage, and the ease for VLSI implementation.
文摘This paper proposes third order tunable bandwidth active Switched-Capacitor filter. The circuit consists of only op-amps and switched capacitors. The circuit is designed for circuit merit factor Q = 10. The proposed circuit implements three filter functions low pass, band pass and high pass simultaneously in single circuit. The filter circuit can be used for both narrow as well as for wide bandwidth. For various values of cut-off frequencies the behaviour of circuit is studied. The circuit works properly only for higher central frequencies, when f0 > 10 kHz.
