Traffic Control Based on Integrated Kalman Filtering and Adaptive Quantized Q-Learning Framework for Internet of Vehicles

Intelligent traffic control requires accurate estimation of the road states and incorporation of adaptive or dynamically adjusted intelligent algorithms for making the decision.In this article,these issues are handled by proposing a novel framework for traffic control using vehicular communications and Internet of Things data.The framework integrates Kalman filtering and Q-learning.Unlike smoothing Kalman filtering,our data fusion Kalman filter incorporates a process-aware model which makes it superior in terms of the prediction error.Unlike traditional Q-learning,our Q-learning algorithm enables adaptive state quantization by changing the threshold of separating low traffic from high traffic on the road according to the maximum number of vehicles in the junction roads.For evaluation,the model has been simulated on a single intersection consisting of four roads:east,west,north,and south.A comparison of the developed adaptive quantized Q-learning(AQQL)framework with state-of-the-art and greedy approaches shows the superiority of AQQL with an improvement percentage in terms of the released number of vehicles of AQQL is 5%over the greedy approach and 340%over the state-of-the-art approach.Hence,AQQL provides an effective traffic control that can be applied in today’s intelligent traffic system.

WSN Mobile Target Tracking Based on Improved Snake-Extended Kalman Filtering Algorithm

A wireless sensor network mobile target tracking algorithm(ISO-EKF)based on improved snake optimization algorithm(ISO)is proposed to address the difficulty of estimating initial values when using extended Kalman filtering to solve the state of nonlinear mobile target tracking.First,the steps of extended Kalman filtering(EKF)are introduced.Second,the ISO is used to adjust the parameters of the EKF in real time to adapt to the current motion state of the mobile target.Finally,the effectiveness of the algorithm is demonstrated through filtering and tracking using the constant velocity circular motion model(CM).Under the specified conditions,the position and velocity mean square error curves are compared among the snake optimizer(SO)-EKF algorithm,EKF algorithm,and the proposed algorithm.The comparison shows that the proposed algorithm reduces the root mean square error of position by 52%and 41%compared to the SOEKF algorithm and EKF algorithm,respectively.

Prediction of landslide block movement based on Kalman filtering data assimilation method

Compared with the study of single point motion of landslides,studying landslide block movement based on data from multiple monitoring points is of great significance for improving the accurate identification of landslide deformation.Based on the study of landslide block,this paper regarded the landslide block as a rigid body in particle swarm optimization algorithm.The monitoring data were organized to achieve the optimal state of landslide block,and the 6-degree of freedom pose of the landslide block was calculated after the regularization.Based on the characteristics of data from multiple monitoring points of landslide blocks,a prediction equation for the motion state of landslide blocks was established.By using Kalman filtering data assimilation method,the parameters of prediction equation for landslide block motion state were adjusted to achieve the optimal prediction.This paper took the Baishuihe landslide in the Three Gorges reservoir area as the research object.Based on the block segmentation of the landslide,the monitoring data of the Baishuihe landslide block were organized,6-degree of freedom pose of block B was calculated,and the Kalman filtering data assimilation method was used to predict the landslide block movement.The research results showed that the proposed prediction method of the landslide movement state has good prediction accuracy and meets the expected goal.This paper provides a new research method and thinking angle to study the motion state of landslide block.

A dual adaptive unscented Kalman filter algorithm for SINS-based integrated navigation system

In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual Kalman filter framework structure is developed. It consists of unscented Kalman filter (UKF)master filter and Kalman filter slave filter. This method uses nonlinear UKF for integrated navigation state estimation. At the same time, the exact noise measurement covariance is estimated by the Kalman filter dependency filter. The algorithm based on dual adaptive UKF (Dual-AUKF) has high accuracy and robustness, especially in the case of measurement information interference. Finally, vehicle-mounted and ship-mounted integrated navigation tests are conducted. Compared with traditional UKF and the Sage-Husa adaptive UKF (SH-AUKF), this method has comparable filtering accuracy and better filtering stability. The effectiveness of the proposed algorithm is verified.

Nonlinear Filtering With Sample-Based Approximation Under Constrained Communication:Progress, Insights and Trends

The nonlinear filtering problem has enduringly been an active research topic in both academia and industry due to its ever-growing theoretical importance and practical significance.The main objective of nonlinear filtering is to infer the states of a nonlinear dynamical system of interest based on the available noisy measurements. In recent years, the advance of network communication technology has not only popularized the networked systems with apparent advantages in terms of installation,cost and maintenance, but also brought about a series of challenges to the design of nonlinear filtering algorithms, among which the communication constraint has been recognized as a dominating concern. In this context, a great number of investigations have been launched towards the networked nonlinear filtering problem with communication constraints, and many samplebased nonlinear filters have been developed to deal with the highly nonlinear and/or non-Gaussian scenarios. The aim of this paper is to provide a timely survey about the recent advances on the sample-based networked nonlinear filtering problem from the perspective of communication constraints. More specifically, we first review three important families of sample-based filtering methods known as the unscented Kalman filter, particle filter,and maximum correntropy filter. Then, the latest developments are surveyed with stress on the topics regarding incomplete/imperfect information, limited resources and cyber security.Finally, several challenges and open problems are highlighted to shed some lights on the possible trends of future research in this realm.

Unscented Kalman filter for a low-cost GNSS/IMU-based mobile mapping application under demanding conditions

For the last two decades,low-cost Global Navigation Satellite System(GNSS)receivers have been used in various applications.These receivers are mini-size,less expensive than geodetic-grade receivers,and in high demand.Irrespective of these outstanding features,low-cost GNSS receivers are potentially poorer hardwares with internal signal processing,resulting in lower quality.They typically come with low-cost GNSS antenna that has lower performance than their counterparts,particularly for multipath mitigation.Therefore,this research evaluated the low-cost GNSS device performance using a high-rate kinematic survey.For this purpose,these receivers were assembled with an Inertial Measurement Unit(IMU)sensor,which actively transmited data on acceleration and orientation rate during the observation.The position and navigation parameter data were obtained from the IMU readings,even without GNSS signals via the U-blox F9R GNSS/IMU device mounted on a vehicle.This research was conducted in an area with demanding conditions,such as an open sky area,an urban environment,and a shopping mall basement,to examine the device’s performance.The data were processed by two approaches:the Single Point Positioning-IMU(SPP/IMU)and the Differential GNSS-IMU(DGNSS/IMU).The Unscented Kalman Filter(UKF)was selected as a filtering algorithm due to its excellent performance in handling nonlinear system models.The result showed that integrating GNSS/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28%and 66.64%.Integration of DGNSS/IMU increased the accuracy in eastward and northward components to 93.02%and 93.03%compared to the positioning of standalone GNSS.In addition,the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass filters.This application could still not gain the expected position accuracy under signal outage conditions.

A Novel Method for Aging Prediction of Railway Catenary Based on Improved Kalman Filter

The aging prediction of railway catenary is of profound significance for ensuring the regular operation of electrified trains.However,in real-world scenarios,accurate predictions are challenging due to various interferences.This paper addresses this challenge by proposing a novel method for predicting the aging of railway catenary based on an improved Kalman filter(KF).The proposed method focuses on modifying the priori state estimate covariance and measurement error covariance of the KF to enhance accuracy in complex environments.By comparing the optimal displacement value with the theoretically calculated value based on the thermal expansion effect of metals,it becomes possible to ascertain the aging status of the catenary.To improve prediction accuracy,a railway catenary aging prediction model is constructed by integrating the Takagi-Sugeno(T-S)fuzzy neural network(FNN)and KF.In this model,an adaptive training method is introduced,allowing the FNN to use fewer fuzzy rules.The inputs of the model include time,temperature,and historical displacement,while the output is the predicted displacement.Furthermore,the KF is enhanced by modifying its prior state estimate covariance and measurement error covariance.These modifications contribute to more accurate predictions.Lastly,a low-power experimental platform based on FPGA is implemented to verify the effectiveness of the proposed method.The test results demonstrate that the proposed method outperforms the compared method,showcasing its superior performance.

Power Quality Disturbance Identification Basing on Adaptive Kalman Filter andMulti-Scale Channel Attention Fusion Convolutional Network

In light of the prevailing issue that the existing convolutional neural network(CNN)power quality disturbance identification method can only extract single-scale features,which leads to a lack of feature information and weak anti-noise performance,a new approach for identifying power quality disturbances based on an adaptive Kalman filter(KF)and multi-scale channel attention(MS-CAM)fused convolutional neural network is suggested.Single and composite-disruption signals are generated through simulation.The adaptive maximum likelihood Kalman filter is employed for noise reduction in the initial disturbance signal,and subsequent integration of multi-scale features into the conventional CNN architecture is conducted.The multi-scale features of the signal are captured by convolution kernels of different sizes so that the model can obtain diverse feature expressions.The attention mechanism(ATT)is introduced to adaptively allocate the extracted features,and the features are fused and selected to obtain the new main features.The Softmax classifier is employed for the classification of power quality disturbances.Finally,by comparing the recognition accuracy of the convolutional neural network(CNN),the model using the attention mechanism,the bidirectional long-term and short-term memory network(MS-Bi-LSTM),and the multi-scale convolutional neural network(MSCNN)with the attention mechanism with the proposed method.The simulation results demonstrate that the proposed method is higher than CNN,MS-Bi-LSTM,and MSCNN,and the overall recognition rate exceeds 99%,and the proposed method has significant classification accuracy and robust classification performance.This achievement provides a new perspective for further exploration in the field of power quality disturbance classification.

Nonlinear Bayesian Estimation： From Kalman Filtering to a Broader Horizon

This article presents an up-to-date tutorial review of nonlinear Bayesian estimation. State estimation for nonlinear systems has been a challenge encountered in a wide range of engineering fields, attracting decades of research effort. To date,one of the most promising and popular approaches is to view and address the problem from a Bayesian probabilistic perspective,which enables estimation of the unknown state variables by tracking their probabilistic distribution or statistics(e.g., mean and covariance) conditioned on a system's measurement data.This article offers a systematic introduction to the Bayesian state estimation framework and reviews various Kalman filtering(KF)techniques, progressively from the standard KF for linear systems to extended KF, unscented KF and ensemble KF for nonlinear systems. It also overviews other prominent or emerging Bayesian estimation methods including Gaussian filtering, Gaussian-sum filtering, particle filtering and moving horizon estimation and extends the discussion of state estimation to more complicated problems such as simultaneous state and parameter/input estimation.

Phase noise filtering and phase unwrapping method based on unscented Kalman filter

This paper presents a new phase unwrapping algorithm based on the unscented Kalman filter（UKF） for synthetic aperture radar（SAR） interferometry.This method is the result of combining an UKF with path-following strategy and an omni-directional local phase slope estimator.This technique performs simultaneously noise filtering and phase unwrapping along the high-quality region to the low-quality region,which is also able to avoid going directly through the noisy regions.In addition,phase slope is estimated directly from the sample frequency spectrum of the complex interferogram,by which the underestimation of phase slope is overcome.Simulation and real data processing results validate the effectiveness of the proposed method,and show a significant improvement with respect to the extended Kalman filtering（EKF） algorithm and some conventional phase unwrapping algorithms in some situations.

Research on Kalman Filtering Algorithmfor Deformation Information Series ofSimilar Single-Difference Model

Using similar single-difference methodology(SSDM) to solve the deformation values of the monitoring points, there is unstability of the deformation information series, at sometimes.In order to overcome this shortcoming, Kalman filtering algorithm for this series is established,and its correctness and validity are verified with the test data obtained on the movable platform in plane. The results show that Kalman filtering can improve the correctness, reliability and stability of the deformation information series.

Extended Kalman filtering-based channel estimation for space-time coded MIMO-OFDM systems

A space-time coded multiple-input multiple-output orthogonal frequency-division multiplexing （MIMO-OFDM） system is considered as a solution to the future wideband wireless communication system. This paper proposes an extended Kalman filtering-based （EKF-based） channel estimation method for space-time coded MIMO-OFDM systems. The proposed method can exploit pilot symbols and an extended Kalman filter to estimate channel without any prior knowledge of channel statistics. In comparison with the least square （LS） and the least mean square （LMS） methods, the EKF-based approach has a better performance in theory. Computer simulations demonstrate the proposed method outperforms the LS and LMS methods. Therefore it can offer draznatic system performance improvement at a modest cost of computational complexity.

Kalman Filtering for Delayed Singular Systems with Multiplicative Noise

Kalman filtering problem for singular systems is dealt with, where the measurements consist of instantaneous measurements and delayed ones, and the plant includes multiplicative noise. By utilizing standard singular value decomposition, the restricted equivalent delayed system is presented, and the Kalman filters for the restricted equivalent system are given by using the well-known re-organization of innovation analysis lemma. The optimal Kalman filter for the original system is given based on the above Kalman filter by recursive Riccati equations, and a numerical example is presented to show the validity and efficiency of the proposed approach, where the comparison between the filter and predictor is also given.

Adaptive Federal Kalman Filtering for SINS/GPS Integrated System

A new adaptive federal Kalman filter for a strapdown integrated navigation system/global positioning system (SINS/GPS) is given. The developed federal Kalman filter is based on the trace operation of parameters estimation's error covariance matrix and the spectral radius of update measurement noise variance-covariance matrix for the proper choice of the filter weight and hence the filter gain factors. Theoretical analysis and results from simulation in which the SINS/GPS was compared to conventional Kalman filter are presented. Results show that the algorithm of this adaptive federal Kalman filter is simpler than that of the conventional one. Furthermore, it outperforms the conventional Kalman filter when the system is undertaken measurement malfunctions because of its possession of adaptive ability. This filter can be used in the vehicle integrated navigation system.

Robust Remaining Useful Life Estimation Based on an Improved Unscented Kalman Filtering Method

In the Prognostics and Health Management(PHM),remaining useful life(RUL)is very important and utilized to ensure the reliability and safety of the operation of complex mechanical systems.Recently,unscented Kalman filtering(UKF)has been applied widely in the RUL estimation.For a degradation system,the relationship between its monitored measurements and its degradation states is assumed to be nonlinear in the conventional UKF.However,in some special degradation systems,their monitored measurements have a linear relation with their degradation states.For these special problems,it may bring estimation errors to use the UKF method directly.Besides,many uncertain factors can result in the fluctuations of the estimated results,which may have a bad influence on the RUL estimation method.As a result,a robust RUL estimation approach is proposed in this paper to reduce the errors and randomness of estimation results for this kind of degradation problems.Firstly,an improved unscented Kalman filtering is established utilizing the Kalman filtering(KF)method and a linear adaptive strategy.The linear adaptive strategy is used to adjust its noise term adaptively.Then,the robust RUL estimation is realized by the improved UKF.At last,three problems are investigated to demonstrate the effectiveness of the proposed method.

Enhanced multi-baseline unscented Kalman filtering phase unwrapping algorithm

This paper presents an enhanced multi-baseline phase unwrapping algorithm by combining an unscented Kalman filter with an enhanced joint phase gradient estimator based on the amended matrix pencil model, and an optimal path-following strategy based on phase quality estimate function. The enhanced joint phase gradient estimator can accurately and effectively extract the phase gradient information of wrapped pixels from noisy interferograms, which greatly increases the performances of the proposed method. The optimal path-following strategy ensures that the proposed algorithm simultaneously performs noise suppression and phase unwrapping along the pixels with high-reliance to the pixels with low-reliance. Accordingly, the proposed algorithm can be predicted to obtain better results, with respect to some other algorithms, as will be demonstrated by the results obtained from synthetic data.

Scheme of adaptive polarization filtering based on Kalman model

A new kind of adaptive polarization filtering algorithm in order to suppress the angle cheating interference for the active guidance radar is presented. The polarization characteristic of the interference is dynamically tracked by using Kalman estimator under variable environments with time. The polarization filter parameters are designed according to the polarization characteristic of the interference, and the polarization filtering is finished in the target cell. The system scheme of adaptive polarization filter is studied and the tracking performance of polarization filter and improvement of angle measurement precision are simulated. The research results demonstrate this technology can effectively suppress the angle cheating interference in guidance radar and is feasible in engineering.

Reduced-order Kalman filtering for state constrained linear systems

This paper aims at solving the state filtering problem for linear systems with state constraints. Three classes of typical state constraints, i.e., linear equality, quadratic equality and inequality, are discussed. By using the linear relationships among different state variables, a reduced-order Kalman filter is derived for the system with linear equality constraints. Afterwards, such a solution is applied to the cases of the quadratic equality constraint and inequality constraints and the two constrained state filtering problems are transformed into two relative constrained optimization problems. Then they are solved by the Lagrangian multiplier and linear matrix inequality techniques, respectively. Finally, two simple tracking examples are provided to illustrate the effectiveness of the reduced-order filters.

Suboptimal distributed Kalman filtering fusion with feedback

In order to improve the accuracy of fusion algorithm, feedback is introduced into Kalman filtering fusion. Fusion center broadcasts its latest estimated states to the local sensors, which can improve the performance of local tracking error through reducing the oovariance of each local error, and only needs calculating the trace of error variance matrices without calculating the inverse of error variance matrices. Simulation results show that it can reduce the ecmputational complexity and the oovariance of error, and it is oonvenient for engineering applications.

A Novel Adaptive Kalman Filter Based on Credibility Measure

It is quite often that the theoretic model used in the Kalman filtering may not be sufficiently accurate for practical applications,due to the fact that the covariances of noises are not exactly known.Our previous work reveals that in such scenario the filter calculated mean square errors(FMSE)and the true mean square errors(TMSE)become inconsistent,while FMSE and TMSE are consistent in the Kalman filter with accurate models.This can lead to low credibility of state estimation regardless of using Kalman filters or adaptive Kalman filters.Obviously,it is important to study the inconsistency issue since it is vital to understand the quantitative influence induced by the inaccurate models.Aiming at this,the concept of credibility is adopted to discuss the inconsistency problem in this paper.In order to formulate the degree of the credibility,a trust factor is constructed based on the FMSE and the TMSE.However,the trust factor can not be directly computed since the TMSE cannot be found for practical applications.Based on the definition of trust factor,the estimation of the trust factor is successfully modified to online estimation of the TMSE.More importantly,a necessary and sufficient condition is found,which turns out to be the basis for better design of Kalman filters with high performance.Accordingly,beyond trust factor estimation with Sage-Husa technique(TFE-SHT),three novel trust factor estimation methods,which are directly numerical solving method(TFE-DNS),the particle swarm optimization method(PSO)and expectation maximization-particle swarm optimization method(EM-PSO)are proposed.The analysis and simulation results both show that the proposed TFE-DNS is better than the TFE-SHT for the case of single unknown noise covariance.Meanwhile,the proposed EMPSO performs completely better than the EM and PSO on the estimation of the credibility degree and state when both noise covariances should be estimated online.