自适应卡尔曼滤波法磷酸铁锂动力电池剩余容量估计

卡尔曼滤波法在估计动力电池的剩余容量(SOC)时,由于系统噪声的不确定,可能导致算法不收敛,而且算法的估计性能受模型精度的影响,笔者采用自适应卡尔曼滤波法来动态地估计电动汽车用磷酸铁锂动力电池的SOC。首先对电池模型进行了研究,建立了适用于SOC估计的电池模型,然后设计了相应的电池充放电实验检测到模型的参数,并进行了验证,最后将自适应卡尔曼滤波法应用到该模型,在未知干扰噪声环境下,在线估计电池的SOC。仿真结果表明:自适应卡尔曼滤波法能够实时修正微小的模型误差带来的SOC估计误差,估计精度高于卡尔曼滤波法,且自适应卡尔曼滤波法对初值误差具有修正作用。实车循环行驶实验表明算法适用于磷酸铁锂动力电池的SOC估计。

State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System

With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.

Modeling of the Multi-Target Locating and Tracking in the Field Artillery System

A method for the multi target locating and tracking with the multi sensor in a field artillery system is studied. A general modeling structure of the system is established. Based on concepts of cluster and closed ball, an algorithm is put forward for multi sensor multi target data fusion and an optimal solution for state estimation is presented. The simulation results prove the algorithm works well for the multi stationary target locating and the multi moving target tracking under the condition of the sparse target environment. Therefore, this method can be directly applied to the field artillery C 3I system.

ARCHITECTURE OF DYNAMIC DATA DRIVEN SIMULATION FOR WILDFIRE AND ITS REALIZATION

Dynamic data driven simulation （DDDS） is proposed to improve the model by incorporaing real data from the practical systems into the model. Instead of giving a static input, multiple possible sets of inputs are fed into the model. And the computational errors are corrected using statistical approaches. It involves a variety of aspects, including the uncertainty modeling, the measurement evaluation, the system model and the measurement model coupling ,the computation complexity, and the performance issue. Authors intend to set up the architecture of DDDS for wildfire spread model, DEVS-FIRE, based on the discrete event speeification （DEVS） formalism. The experimental results show that the framework can track the dynamically changing fire front based on fire sen- sor data, thus, it provides more aecurate predictions.

DESIGN OF NONLINEAR OBSERVER FOR NONLINEAR SYSTEM BASED ON RBF NEURAL NETWORKS

A new type of nonlinear observer for nonlinear systems is presented. Instead of approximating thc cntire nonlinear system with the neural network （NN）, only the un-modeled part left over after the lincarization is approximated. Compared with the conventional linear observer, the observer provides more accurate estimation of the state. The state estimation error is proved to asymptotically approach zero with the Lyapunov method. The simulation result shows that the proposed observer scheme is effective and has a potential application ability in the fault detection and identification （FDI）, and the state estimation.

On-line Estimation in Fed-batch Fermentation Process Using State Space Model and Unscented Kalman Filter

On-line estimation of unmeasurable biological variables is important in fermentation processes,directly influencing the optimal control performance of the fermentation system as well as the quality and yield of the targeted product.In this study,a novel strategy for state estimation of fed-batch fermentation process is proposed.By combining a simple and reliable mechanistic dynamic model with the sample-based regressive measurement model,a state space model is developed.An improved algorithm,swarm energy conservation particle swarm optimization(SECPSO) ,is presented for the parameter identification in the mechanistic model,and the support vector machines(SVM) method is adopted to establish the nonlinear measurement model.The unscented Kalman filter(UKF) is designed for the state space model to reduce the disturbances of the noises in the fermentation process.The proposed on-line estimation method is demonstrated by the simulation experiments of a penicillin fed-batch fermentation process.

Unscented Transformation Based Robust Kalman Filter and Its Applications in Fermentation Process

State estimation is the precondition and foundation of a bioprocess monitoring and optimal control. However,there are many difficulties in dealing with a non-linear system,such as the instability of process, un-modeled dynamics,parameter sensitivity,etc.This paper discusses the principles and characteristics of three different approaches,extended Kalman filters,strong tracking filters and unscented transformation based Kalman filters.By introducing the unscented transformation method and a sub-optimal fading factor to correct the prediction error covariance,an improved Kalman filter,unscented transformation based robust Kalman filter,is proposed. The performance of the algorithm is compared with the strong tracking filter and unscented transformation based Kalman filter and illustrated in a typical case study for glutathione fermentation process.The results show that the proposed algorithm presents better accuracy and stability on the state estimation in numerical calculations.

LINEAR FILTERING FOR VASICEK TERM STRUCTURE MODEL WITH SEQUENTIALLY CORRELATED NOISE

When Kalman filter is used in the estimation of Vasicek term structure of interest rates,it is usual to assume that the measurement noise is uncorrelated.Study results are more favorable to the assumption of correlated measurement noise.An augmented state Kalman filter form for Vasicek model is proposed to optimally estimate the unobservable state variable with the assumption of correlated measurement noise.Empirical results indicate that the model with sequentially correlated measurement noise can more accurately describe the dynamics of the term structure of interest rates.

Road traffic states estimation algorithm based on matching of regional traffic attracters

To effectively solve the traffic data problems such as data invalidation in the process of the acquisition of road traffic states,a road traffic states estimation algorithm based on matching of the regional traffic attracters was proposed in this work.First of all,the road traffic running states were divided into several different modes.The concept of the regional traffic attracters of the target link was put forward for effective matching.Then,the reference sequences of characteristics of traffic running states with the contents of the target link's traffic running states and regional traffic attracters under different modes were established.In addition,the current and historical regional traffic attracters of the target link were matched through certain matching rules,and the historical traffic running states of the target link corresponding to the optimal matching were selected as the initial recovery data,which were processed with Kalman filter to obtain the final recovery data.Finally,some typical expressways in Beijing were adopted for the verification of this road traffic states estimation algorithm.The results prove that this traffic states estimation approach based on matching of the regional traffic attracters is feasible and can achieve a high accuracy.

Application of honey-bee mating optimization on state estimation of a power distribution system including distributed generators

We present a new approach based on honey-bee mating optimization to estimate the state variables in distribution networks including distributed generators. The proposed method considers practical models of electrical equipments such as static var compensators, voltage regulators, and under-load tap changer transformers, which have usually nonlinear and discrete characteristics. The feasibility of the proposed approach is demonstrated by comparison with the methods based on neural networks, ant colony optimization, and genetic algorithms for two test systems, a network with 34-bus radial test feeders and a realistic 80-bus 20 kV network.

Estimating the Operation Status of Steam Cracking Furnace Using Numerical Simulation with Combustion Models

An accurate and complete geometric model was constructed to simulate the combustion, flow and temperature environment in the radiant section of the steam cracking furnace. Simulation of flow and radiation status has utilized the standard k-ε model and P1 model. The finite-rate/eddy-dissipation (finite-rate/ED) combustion model and non-premixed combustion model were both used to simulate accurately the combustion and the operation status of the steam cracking furnace. Three different surfaces of the steam cracking furnace were obtained from the simulation, namely:the flue gas temperature field of the entrance surface in long flame burners, the central surface location of tubes, and the crossover section surface. Detailed information on the flue gas temperature and the mass concentration fraction of these different surfaces in the steam cracking furnace can also be obtained by the simulation. This paper analyzed and compared the simulation results with the two combustion models, estimated the operation status of the steam cracking furnace, and reported that the finite-rate/ED model is appropriate to simulate the steam cracking furnace by comparing key simulation data with actual test data. This work has also provided a theoretical basis for simulating and operating the steam cracking furnace.

Real-time road traffic states estimation based on kernel-KNN matching of road traffic spatial characteristics

The accurate estimation of road traffic states can provide decision making for travelers and traffic managers. In this work,an algorithm based on kernel-k nearest neighbor(KNN) matching of road traffic spatial characteristics is presented to estimate road traffic states. Firstly, the representative road traffic state data were extracted to establish the reference sequences of road traffic running characteristics(RSRTRC). Secondly, the spatial road traffic state data sequence was selected and the kernel function was constructed, with which the spatial road traffic data sequence could be mapped into a high dimensional feature space. Thirdly, the referenced and current spatial road traffic data sequences were extracted and the Euclidean distances in the feature space between them were obtained. Finally, the road traffic states were estimated from weighted averages of the selected k road traffic states, which corresponded to the nearest Euclidean distances. Several typical links in Beijing were adopted for case studies. The final results of the experiments show that the accuracy of this algorithm for estimating speed and volume is 95.27% and 91.32% respectively, which prove that this road traffic states estimation approach based on kernel-KNN matching of road traffic spatial characteristics is feasible and can achieve a high accuracy.

The two-factor model of evaluating mining rights of coal resources based on options

MRCR could be regarded as a multi-stage compounding real option,based on option theory,assuming the convenience yield of coal reserves to be constant,built a one-factor model of valuating MRCR with the stochastic value of coal reserves.On the basis of our one-factor model,set up a two-factor model of evaluating MRCR assuming the convenience yield follows the mean-reverting process.When applied to valuate the MRCR of a coalmine,this model gives higher values than the one-factor model and the NPV.This is because the increase of convenience yield can improve the executive oppor- tunity of MRCR.

A state estimation based constrained model predictive control system

In this paper,the model predictive control based on the state estimation for a constrained system isinvestigated.By modifying the constraints for the predictive state,the control sequence becomes feasiblefor the real system,i.e.,the system state is guaranteed to be in the constraint domain.It s also provedthat the close-loop system is asymptotically stable and the system state converges to the origin.The conclusionis verified through simulation.

Grey series time-delay predicting model in state estimation for power distribution networks

A new combined model is proposed to obtain predictive data value applied in state estimation for radial power distribution networks. The time delay part of the model is calculated by a recursive least squares algorithm of system identification, which can gradually forget past information. The grey series part of the model uses an equal dimension new information model (EDNIM) and it applies 3 points smoothing method to preprocess the original data and modify remnant difference by GM(1,1). Through the optimization of the coefficient of the model, we are able to minimize the error variance of predictive data. A case study shows that the proposed method achieved high calculation precision and speed and it can be used to obtain the predictive value in real time state estimation of power distribution networks.

Applications of state estimation in multi-sensor information fusion for the monitoring of open pit mine slope deformation

The traditional open pit mine slope deformation monitoring system can not use the monitoring information coming from many monitoring points at the same time, can only using the monitoring data coming from a key monitoring point,and that is to say it can only handle one-dimensional time series.Given this shortage in the monitoring, the multi-sensor information fusion in the state estimation techniques would be intro- duced to the slope deformation monitoring system,and by the dynamic characteristics of deformation slope,the open pit slope would be regarded as a dynamic goal,the condi- tion monitoring of which would be regarded as a dynamic target tracking.Distributed In- formation fusion technology with feedback was used to process the monitoring data and on this basis Klman filtering algorithms was introduced,and the simulation examples was used to prove its effectivenes.

MULTITARGET STATE AND TRACK ESTIMATION FOR THE PROBABILITY HYPOTHESES DENSITY FILTER

The particle Probability Hypotheses Density (particle-PHD) filter is a tractable approach for Random Finite Set (RFS) Bayes estimation, but the particle-PHD filter can not directly derive the target track. Most existing approaches combine the data association step to solve this problem. This paper proposes an algorithm which does not need the association step. Our basic ideal is based on the clustering algorithm of Finite Mixture Models (FMM). The intensity distribution is first derived by the particle-PHD filter, and then the clustering algorithm is applied to estimate the multitarget states and tracks jointly. The clustering process includes two steps: the prediction and update. The key to the proposed algorithm is to use the prediction as the initial points and the convergent points as the es- timates. Besides, Expectation-Maximization (EM) and Markov Chain Monte Carlo (MCMC) ap- proaches are used for the FMM parameter estimation.

Comparison of Linearized Kalman Filter and Extended Kalman Filter for Satellite Motion States Estimation

The performance of the conventional Kalman filter depends on process and measurement noise statistics given by the system model and measurements.The conventional Kalman filter is usually used for a linear system,but it should not be used for estimating the state of a nonlinear system such as a satellite motion because it is difficult to obtain the desired estimation results.The linearized Kalman filtering approach and the extended Kalman filtering approach have been proposed for a general nonlinear system.The equations of satellite motion are described.The satellite motion states are estimated,and the relevant estimation errors are calculated through the estimation algorithms of the both above mentioned approaches implemented in Matlab are estimated.The performances of the extended Kalman filter and the linearized Kalman filter are compared.The simulation results show that the extended Kalman filter is much better than the linearized Kalman filter at the aspect of estimation effect.

Multi-sensor federated unscented Kalman filtering algorithm in intermittent observations

Aiming at the adverse effect caused by limited detecting probability of sensors on filtering preci- sion of a nonlinear system state, a novel muhi-sensor federated unscented Kalman filtering algorithm is proposed. Firstly, combined with the residual detection strategy, effective observations are cor- rectly identified. Secondly, according to the missing characteristic of observations and the structural feature of unscented Kalman filter, the iterative process of the single-sensor unscented Kalman filter in intermittent observations is given. The key idea is that the state estimation and its error covariance matrix are replaced by the state one-step prediction and its error covariance matrix, when the phe- nomenon of observations missing occurs. Finally, based on the realization mechanism of federated filter, a new fusion framework of state estimation from each local node is designed. And the filtering precision of system state is improved further by the effective management of observations missing and the rational utilization of redundancy and complementary information among multi-sensor observa- tions. The theory analysis and simulation results show the feasibility and effectiveness of the pro- posed algorithm.

Multi-objective optimization sensor node scheduling for target tracking in wireless sensor network

Target tracking in wireless sensor network usually schedules a subset of sensor nodes to constitute a tasking cluster to collaboratively track a target.For the goals of saving energy consumption,prolonging network lifetime and improving tracking accuracy,sensor node scheduling for target tracking is indeed a multi-objective optimization problem.In this paper,a multi-objective optimization sensor node scheduling algorithm is proposed.It employs the unscented Kalman filtering algorithm for target state estimation and establishes tracking accuracy index,predicts the energy consumption of candidate sensor nodes,analyzes the relationship between network lifetime and remaining energy balance so as to construct energy efficiency index.Simulation results show that,compared with the existing sensor node scheduling,our proposed algorithm can achieve superior tracking accuracy and energy efficiency.