Travel times have been traditionally estimated from data collected by roadway sensors. Recently, new tech- nologies, such as cell phone tracking, license plate matching, automatic vehicle identifications and video det...Travel times have been traditionally estimated from data collected by roadway sensors. Recently, new tech- nologies, such as cell phone tracking, license plate matching, automatic vehicle identifications and video detection, are employed for this purpose. In this study, the data collected by TRANSMIT readers, Bluetooth sensors, and INRIX are assessed by comparing each to the "ground truth" travel times collected by probe vehicles carrying GPS-based naviga- tion devices. Travel times of probe vehicles traveling on the study segment of 1-287 in New Jersey were collected in 2009. Statistical measures, such as standard deviation, average absolute speed error, and speed error bias, were used to make an in-depth analysis. The accuracy of each travel time estimation method is analyzed. The data collected by Bluetooth sensors and the TRANSMIT readers seem more consistent with the ground true data, and slightly outperform the data reported by 1NRIX. This study established a procedure for analyzing the accuracy of floating car data (FCD) collected by different technologies.展开更多
Travel time estimation is an integral part of Intelligent Transportation Systems, and has been an important component in traffic management and operations for many years. Travel time, being spatial in nature, requires...Travel time estimation is an integral part of Intelligent Transportation Systems, and has been an important component in traffic management and operations for many years. Travel time, being spatial in nature, requires spatial sensors to measure it accurately. Bluetooth is emerging as a promising technology for the direct measurement of travel time, and is reported in a few studies from homogenous traffic conditions. At the same time, there have been no studies on the applicability of Bluetooth for travel time estimation in heterogeneous traffic seen in Istanbul and even that Turkey. Bluetooth data collected from a busy urban road in Istanbul city have been analyzed and the penetration rate was found to be about 5 %. Two wheelers and light motor vehicles have been detected using the Bluetooth sensor and the data have been extrapolated to estimate travel times of other classes of vehicles. The study developed linear relationships between speeds of different classes of vehicles through weighted linear regression methods and were used for the estimation of stream travel time. The results obtained were promising and show that Bluetooth is a cost-effective technology for estimation of travel time for heterogeneous traffic conditions.展开更多
To improve the estimation accuracy,a novel time delay estimation(TDE)method based on the closed-form offset compensation is proposed.Firstly,we use the generalized cross-correlation with phase transform(GCC-PHAT)metho...To improve the estimation accuracy,a novel time delay estimation(TDE)method based on the closed-form offset compensation is proposed.Firstly,we use the generalized cross-correlation with phase transform(GCC-PHAT)method to obtain the initial TDE.Secondly,a signal model using normalized cross spectrum is established,and the noise subspace is extracted by eigenvalue decomposition(EVD)of covariance matrix.Using the orthogonal relation between the steering vector and the noise subspace,the first-order Taylor expansion is carried out on the steering vector reconstructed by the initial TDE.Finally,the offsets are compensated via simple least squares(LS).Compared to other state-of-the-art methods,the proposed method significantly reduces the computational complexity and achieves better estimation performance.Experiments on both simulation and real-world data verify the efficiency of the proposed approach.展开更多
RSs(Radar Systems)identify and trace targets and are commonly employed in applications like air traffic control and remote sensing.They are necessary for monitoring precise target trajectories.Estimations of RSs are n...RSs(Radar Systems)identify and trace targets and are commonly employed in applications like air traffic control and remote sensing.They are necessary for monitoring precise target trajectories.Estimations of RSs are non-linear as the parameters TDEs(time delay Estimations)and Doppler shifts are computed on receipt of echoes where EKFs(Extended Kalman Filters)and UKFs(Unscented Kalman Filters)have not been examined for computations.RSs,certain times result in poor accuracies and SNRs(low signal to noise ratios)especially,while encountering complicated environments.This work proposes IUKFs(Iterated UKFs)to track onlinefilter performances while using optimization techniques to enhance outcomes.The use of cost functions can assist state corrections while lowering costs.A new parameter is optimized using MCEHOs(Mutation Chaotic Elephant Herding Optimizations)by linearly approximating system non-linearity where OIUKFs(Optimized Iterative UKFs)predict a target's unknown parameters.To obtain optimal solutions theoretically,OIUKFs take less iteration,resulting in shorter execution times.The proposed OIUKFs provide numerical approximations which are derivative-free implementations.Simulation evaluation results with estimators show better performances in terms of reduced NMSEs(Normalized Mean Square Errors),RMSEs(Root Mean Squared Errors),SNRs,variances,and better accuracies than current approaches.展开更多
People often have to queue for a busy service in many places around a city, and knowing the queue time can be helpful for making better activity plans to avoid long queues. Traditional solutions to the queue time moni...People often have to queue for a busy service in many places around a city, and knowing the queue time can be helpful for making better activity plans to avoid long queues. Traditional solutions to the queue time monitoring are based on pre-deployed infrastructures, such as cameras and infrared sensors, which are costly and fail to deliver the queue time information to scattered citizens. This paper presents CrowdQTE, a mobile crowdsensing system, which utilizes the sensor-enhanced mobile devices and crowd hu- man intelligence to monitor and provide real-time queue time information for various queuing scenarios. When people are waiting in a line, we utilize the accelerometer sensor data and ambient contexts to automatically detect the queueing behav- ior and calculate the queue time. When people are not waiting in a line, it estimates the queue time based on the information reported manually by participants. We evaluate the perfor- mance of the system with a two-week and 12-person deploy- ment using commercially-available smartphones. The results demonstrate that CrowdQTE is effective in estimating queu- ing status.展开更多
The problems of time delay estimation of narrowband signals are presented. The disadvantages of the existing algorithms are analyzed, and a new narrowband time delay estimating algorithm based on correlation coefficie...The problems of time delay estimation of narrowband signals are presented. The disadvantages of the existing algorithms are analyzed, and a new narrowband time delay estimating algorithm based on correlation coefficient is proposed. The original time delay information is transfered into the delay between the autocorrelation and cross-correlation function, and the precise estimating result by wave-comparison is given. The algorithm proposed here is also compared with other algorithms and its advantages over other algorithms are proved. The theoretical analysis and simulation show the effectiveness of the proposed algorithm.展开更多
A method of source depth estimation based on the multi-path time delay difference is proposed. When the minimum time arrivals in all receiver depths are snapped to a certain time on time delay-depth plane, time delay ...A method of source depth estimation based on the multi-path time delay difference is proposed. When the minimum time arrivals in all receiver depths are snapped to a certain time on time delay-depth plane, time delay arrivals of surface-bottom reflection and bottom-surface reflection intersect at the source depth. Two hydrophones deployed vertically with a certain interval are required at least. If the receiver depths are known, the pair of time delays can be used to estimate the source depth. With the proposed method the source depth can be estimated successfully in a moderate range in the deep ocean without complicated matched-field calculations in the simulations and experiments.展开更多
The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground,...The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.展开更多
Time delay estimation (TDE) is an important issue in signal processing. Conventional TDE algorithms are usually efficient under white noise environments. In this paper, a joint noise reduction and -norm minimization m...Time delay estimation (TDE) is an important issue in signal processing. Conventional TDE algorithms are usually efficient under white noise environments. In this paper, a joint noise reduction and -norm minimization method is presented to enhance TDE in colored noise. An improved subspace method for colored noise reduction is first performed. Then the time delay is estimated by using an -norm minimization method. Because the clean speech signal form the noisy signal is well extracted by noise reduction and the -norm minimization method is robust, the TDE accuracy can be enhanced. Experiment results confirm that the proposed joint estimation method obtains more accurate TDE than several conventional algorithms in colored noise, especially in the case of low signal-to-noise ratio. 展开更多
Non-line-of-sight imaging detection is to detect hidden objects by indirect light and intermediary surface(diffuser).It has very important significance in indirect access to an object or dangerous object detection, ...Non-line-of-sight imaging detection is to detect hidden objects by indirect light and intermediary surface(diffuser).It has very important significance in indirect access to an object or dangerous object detection, such as medical treatment and rescue. An approach to locating the positions of hidden objects is proposed based on time delay estimation. The time delays between the received signals and the source signal can be obtained by correlation analysis, and then the positions of hidden objects will be located. Compared with earlier systems and methods, the proposed approach has some modifications and provides significant improvements, such as quick data acquisition, simple system structure and low cost, and can locate the positions of hidden objects as well: this technology lays a good foundation for developing a practical system that can be used in real applications.展开更多
In recent years,the time-frequency overlapping multi-carrier signal has been a novel and valuable topic in blind signal processing,especially in the non-cooperative receiving field.But there is little related research...In recent years,the time-frequency overlapping multi-carrier signal has been a novel and valuable topic in blind signal processing,especially in the non-cooperative receiving field.But there is little related research in public published papers.This paper proposes two timing estimation algorithms,which are non-data-aided and based on the cyclic auto-correlation function.In order to evaluate the performance of the proposed algorithms,the theoretical bound of the timing estimation is derived.According to the analyses and simulation results,the effectiveness of the proposed algorithms has been demonstrated.It shows that MethodⅠhas better performance than MethodⅡ.However,MethodⅡdoes not need prior information,so it has a wider range of applications.展开更多
Generalized cross-correlation is considered as the most straightforward time delay estimation algorithm.Depending on various weighting function,different methods were derived and a straightforward method,named phase t...Generalized cross-correlation is considered as the most straightforward time delay estimation algorithm.Depending on various weighting function,different methods were derived and a straightforward method,named phase transform(PHAT)has been widely used.PHAT is well-known for its robustness to reverberation and its sensitivity to noise,which is partly due to the fact that PHAT distributes same weights to the frequencies dominated by signal or noise.To alleviate this problem,two weighting functions are proposed in this paper.By taking a posteriori signal-to-noise ratio(SNR)into account to classify reliable and unreliable frequencies,different weights could be assigned.The first proposed weighting function borrows the idea of binary mask and distributes same weights to frequencies in same set,whereas,the second one assigns weights based on coherence function.Experiments showed the robustness of proposed methods to reverberation and noise for improving the performance of time delay estimation through various criteria.展开更多
This paper presents a novel time delay estimation (TDE) method using the concept of entropy. The relative delay is estimated by minimizing the estimated joint entropy of multiple sensor output signals. When estimati...This paper presents a novel time delay estimation (TDE) method using the concept of entropy. The relative delay is estimated by minimizing the estimated joint entropy of multiple sensor output signals. When estimating the entropy, the information about the prior distribution of the source signal is not required. Instead, the Parzen window estimator is employed to estimate the density function of the source signal from multiple sensor output signals. Meanwhile, based on the Parzen window estimator, the Renyi's quadratic entropy (RQE) is incorporated to effectively and efficiently estimate the high-dimensional joint entropy of the multichannel outputs. Furthermore, a modified form of the joint entropy for embedding information about reverberation (multipath reflections) for speech signals is introduced to enhance the estimator's robustness against reverberation.展开更多
An LMS-like algorithm is applied for estimating the time-varying parameter theta-n in the linear model y(n) = phi-n-tau-theta-n + upsilon-n, which is general in the sense that none of the probabilistic properties such...An LMS-like algorithm is applied for estimating the time-varying parameter theta-n in the linear model y(n) = phi-n-tau-theta-n + upsilon-n, which is general in the sense that none of the probabilistic properties such as stationarity, Markov property, independence and ergodicity is imposed on any of the processes {y(n)}, {phi-n}, {theta-n} and {upsilon-n}. It is shown that the alpha-th moment of the estimation error is of order of the alpha-th moment of the observation noise and the parameter variation w(n) change in equivalence theta-n - theta-n-1.展开更多
The true-time delay(TTD)units are critical for solving beam squint and frequency selective fading inWideband Large-Scale Antenna Systems(LSASs).In this work,we propose a TTD array architecture for wideband multi-beam ...The true-time delay(TTD)units are critical for solving beam squint and frequency selective fading inWideband Large-Scale Antenna Systems(LSASs).In this work,we propose a TTD array architecture for wideband multi-beam tracking that eliminates the beam squint phenomenon and filters out interference signals by applying a spatial filter and time delay estimations(TDEs).The paper presents a novel approach to spatial filter design by introducing a transformation matrix that can optimize the beam response in a specific direction and at a specific frequency.Using the variable fractional delay(VFD)filters,we propose a TDE algorithm with a Newton-Raphson iteration update process that corrects the arrival time delay difference between sensors.Simulations and examples have demonstrated that the proposed architecture can achieve beam tracking within 10 ms at the low signalto-noise ratio(SNR)and demodulation loss is less than 0.5 dB in wideband multi-beam scenarios.展开更多
On account of the traditional multiple signal classification(MUSIC)algorithm has poor performance in time delay estimation under the condition of small sampling data and low SNR.In this paper,the traditional MUSIC alg...On account of the traditional multiple signal classification(MUSIC)algorithm has poor performance in time delay estimation under the condition of small sampling data and low SNR.In this paper,the traditional MUSIC algorithm is improved.The algorithm combines the idea of spatial smoothing,constructs a new covariance matrix using the covariance information of the measurement data,and constructs a weighted value using the modified noise eigenvalues to weight the traditional estimation spectrum.Simulation results show that the improved algorithm has steeper spectral peaks and better time delay resolution under the condition of inaccurate path number estimation.The time delay estimation accuracy of this algorithm is higher than that of the traditional MUSIC algorithm and the improved SSMUSIC algorithm under the conditions of small sampling data and low SNR.展开更多
The asymptotic behavior of the solutions to a class of pseudoparabolic viscous diffusion equation with periodic initial condition is studied by using the spectral method. The semidiscrete Fourier approximate solution ...The asymptotic behavior of the solutions to a class of pseudoparabolic viscous diffusion equation with periodic initial condition is studied by using the spectral method. The semidiscrete Fourier approximate solution of the problem is constructed and the error estimation between spectral approximate solution and exact solution on large time is also obtained. The existence of the approximate attractor AN and the upper semicontinuity d(AN,A) → 0 are proved.展开更多
Underwater acoustic communication based on Pattern Tune Delay Shift Coding (PDS) communication scheme is studied. The time delay shift values of the pattern are used to encode the digital information in the PDS sche...Underwater acoustic communication based on Pattern Tune Delay Shift Coding (PDS) communication scheme is studied. The time delay shift values of the pattern are used to encode the digital information in the PDS scheme, which belongs to the Pulse Position Modulation (PPM). The duty cycle of the PDS scheme is small, so it can economize the power for communication. By use of different patterns for code division and different frequencies for channel division, the communication system is capable of mitigating the inter-symbol interference (ISI) caused by the muhipath channel. The data rate of communication is 1000 bits/s at 8 kHz bandwidth. The receiver separates the channels by means of bandpass filters, and performs decoding by 4 copy-correlators to estimate the time delay shift value. Based on the theoretical analysis and numerical simulations, the PDS scheme is shown to be a robust and effective approach for underwater acoustic communication.展开更多
A least square (IS) parametric channel estimation method in broadband mt/ltiple input multiple output (MIMO) orthogonal frequency division multiplexing (OFDM) systems is proposed. The mean square error (MSE) p...A least square (IS) parametric channel estimation method in broadband mt/ltiple input multiple output (MIMO) orthogonal frequency division multiplexing (OFDM) systems is proposed. The mean square error (MSE) performance using optimal training pilots is also given, which proves the method can improve the estimation precision greatly in sparse channel.. Since such method needs the multi-path time delays information of the channel, the probabilistic data association (PDA) method is employed to estimate the time delay of each path. Simulation results show that both the bit error rate (BER) and the MSE performance of the proposed method are better than the traditional LS channel estimation method.展开更多
For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For ...For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.展开更多
文摘Travel times have been traditionally estimated from data collected by roadway sensors. Recently, new tech- nologies, such as cell phone tracking, license plate matching, automatic vehicle identifications and video detection, are employed for this purpose. In this study, the data collected by TRANSMIT readers, Bluetooth sensors, and INRIX are assessed by comparing each to the "ground truth" travel times collected by probe vehicles carrying GPS-based naviga- tion devices. Travel times of probe vehicles traveling on the study segment of 1-287 in New Jersey were collected in 2009. Statistical measures, such as standard deviation, average absolute speed error, and speed error bias, were used to make an in-depth analysis. The accuracy of each travel time estimation method is analyzed. The data collected by Bluetooth sensors and the TRANSMIT readers seem more consistent with the ground true data, and slightly outperform the data reported by 1NRIX. This study established a procedure for analyzing the accuracy of floating car data (FCD) collected by different technologies.
文摘Travel time estimation is an integral part of Intelligent Transportation Systems, and has been an important component in traffic management and operations for many years. Travel time, being spatial in nature, requires spatial sensors to measure it accurately. Bluetooth is emerging as a promising technology for the direct measurement of travel time, and is reported in a few studies from homogenous traffic conditions. At the same time, there have been no studies on the applicability of Bluetooth for travel time estimation in heterogeneous traffic seen in Istanbul and even that Turkey. Bluetooth data collected from a busy urban road in Istanbul city have been analyzed and the penetration rate was found to be about 5 %. Two wheelers and light motor vehicles have been detected using the Bluetooth sensor and the data have been extrapolated to estimate travel times of other classes of vehicles. The study developed linear relationships between speeds of different classes of vehicles through weighted linear regression methods and were used for the estimation of stream travel time. The results obtained were promising and show that Bluetooth is a cost-effective technology for estimation of travel time for heterogeneous traffic conditions.
基金supported in part by National Key R&D Program of China under Grants 2020YFB1807602 and 2020YFB1807600National Science Foundation of China(61971217,61971218,61631020,61601167)+1 种基金the Fund of Sonar Technology Key Laboratory(Range estimation and location technology of passive target viamultiple array combination),Jiangsu Planned Projects for Postdoctoral Research Funds(2020Z013)China Postdoctoral Science Foundation(2020M681585).
文摘To improve the estimation accuracy,a novel time delay estimation(TDE)method based on the closed-form offset compensation is proposed.Firstly,we use the generalized cross-correlation with phase transform(GCC-PHAT)method to obtain the initial TDE.Secondly,a signal model using normalized cross spectrum is established,and the noise subspace is extracted by eigenvalue decomposition(EVD)of covariance matrix.Using the orthogonal relation between the steering vector and the noise subspace,the first-order Taylor expansion is carried out on the steering vector reconstructed by the initial TDE.Finally,the offsets are compensated via simple least squares(LS).Compared to other state-of-the-art methods,the proposed method significantly reduces the computational complexity and achieves better estimation performance.Experiments on both simulation and real-world data verify the efficiency of the proposed approach.
文摘RSs(Radar Systems)identify and trace targets and are commonly employed in applications like air traffic control and remote sensing.They are necessary for monitoring precise target trajectories.Estimations of RSs are non-linear as the parameters TDEs(time delay Estimations)and Doppler shifts are computed on receipt of echoes where EKFs(Extended Kalman Filters)and UKFs(Unscented Kalman Filters)have not been examined for computations.RSs,certain times result in poor accuracies and SNRs(low signal to noise ratios)especially,while encountering complicated environments.This work proposes IUKFs(Iterated UKFs)to track onlinefilter performances while using optimization techniques to enhance outcomes.The use of cost functions can assist state corrections while lowering costs.A new parameter is optimized using MCEHOs(Mutation Chaotic Elephant Herding Optimizations)by linearly approximating system non-linearity where OIUKFs(Optimized Iterative UKFs)predict a target's unknown parameters.To obtain optimal solutions theoretically,OIUKFs take less iteration,resulting in shorter execution times.The proposed OIUKFs provide numerical approximations which are derivative-free implementations.Simulation evaluation results with estimators show better performances in terms of reduced NMSEs(Normalized Mean Square Errors),RMSEs(Root Mean Squared Errors),SNRs,variances,and better accuracies than current approaches.
基金This work was mainly funded by the National Natural Science Foundation of China (Grant No. 61572048), Research Fund from China Electric Power Research Institute (JS71-16-005), and Microsoft Col- laboration Research Grant. Besides, the work was partially supported by the Fundamental Research Funds for the Central Universities (106112015CD-JXY180001), Open Research Fund Program of Shenzhen Key Laboratory of Spatial Smart Sensing and Services (Shenzhen University, China), and Chongqing Basic and Frontier Research Program (cstc2015jcyjA00016).
文摘People often have to queue for a busy service in many places around a city, and knowing the queue time can be helpful for making better activity plans to avoid long queues. Traditional solutions to the queue time monitoring are based on pre-deployed infrastructures, such as cameras and infrared sensors, which are costly and fail to deliver the queue time information to scattered citizens. This paper presents CrowdQTE, a mobile crowdsensing system, which utilizes the sensor-enhanced mobile devices and crowd hu- man intelligence to monitor and provide real-time queue time information for various queuing scenarios. When people are waiting in a line, we utilize the accelerometer sensor data and ambient contexts to automatically detect the queueing behav- ior and calculate the queue time. When people are not waiting in a line, it estimates the queue time based on the information reported manually by participants. We evaluate the perfor- mance of the system with a two-week and 12-person deploy- ment using commercially-available smartphones. The results demonstrate that CrowdQTE is effective in estimating queu- ing status.
基金supported partly by the National Natural Science Foundation of China(6037208130570475)the Education Ministry Doctoral Degree Foundation of China(20050141025).
文摘The problems of time delay estimation of narrowband signals are presented. The disadvantages of the existing algorithms are analyzed, and a new narrowband time delay estimating algorithm based on correlation coefficient is proposed. The original time delay information is transfered into the delay between the autocorrelation and cross-correlation function, and the precise estimating result by wave-comparison is given. The algorithm proposed here is also compared with other algorithms and its advantages over other algorithms are proved. The theoretical analysis and simulation show the effectiveness of the proposed algorithm.
基金Supported by the National Natural Science Foundation of China under Grant No 11174235
文摘A method of source depth estimation based on the multi-path time delay difference is proposed. When the minimum time arrivals in all receiver depths are snapped to a certain time on time delay-depth plane, time delay arrivals of surface-bottom reflection and bottom-surface reflection intersect at the source depth. Two hydrophones deployed vertically with a certain interval are required at least. If the receiver depths are known, the pair of time delays can be used to estimate the source depth. With the proposed method the source depth can be estimated successfully in a moderate range in the deep ocean without complicated matched-field calculations in the simulations and experiments.
基金This study was supported by the National Defense Science and Technology Innovation Zone of China(Grant No.00205501).
文摘The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.
文摘Time delay estimation (TDE) is an important issue in signal processing. Conventional TDE algorithms are usually efficient under white noise environments. In this paper, a joint noise reduction and -norm minimization method is presented to enhance TDE in colored noise. An improved subspace method for colored noise reduction is first performed. Then the time delay is estimated by using an -norm minimization method. Because the clean speech signal form the noisy signal is well extracted by noise reduction and the -norm minimization method is robust, the TDE accuracy can be enhanced. Experiment results confirm that the proposed joint estimation method obtains more accurate TDE than several conventional algorithms in colored noise, especially in the case of low signal-to-noise ratio.
基金supported by the National Science and Technology Major Project of China(Grant No.AHJ2011Z001)the Major Research Project of Yili Normal University(Grant No.2016YSZD05)
文摘Non-line-of-sight imaging detection is to detect hidden objects by indirect light and intermediary surface(diffuser).It has very important significance in indirect access to an object or dangerous object detection, such as medical treatment and rescue. An approach to locating the positions of hidden objects is proposed based on time delay estimation. The time delays between the received signals and the source signal can be obtained by correlation analysis, and then the positions of hidden objects will be located. Compared with earlier systems and methods, the proposed approach has some modifications and provides significant improvements, such as quick data acquisition, simple system structure and low cost, and can locate the positions of hidden objects as well: this technology lays a good foundation for developing a practical system that can be used in real applications.
基金supported by the National Natural Science Foundation of China under Grant No. 61501084。
文摘In recent years,the time-frequency overlapping multi-carrier signal has been a novel and valuable topic in blind signal processing,especially in the non-cooperative receiving field.But there is little related research in public published papers.This paper proposes two timing estimation algorithms,which are non-data-aided and based on the cyclic auto-correlation function.In order to evaluate the performance of the proposed algorithms,the theoretical bound of the timing estimation is derived.According to the analyses and simulation results,the effectiveness of the proposed algorithms has been demonstrated.It shows that MethodⅠhas better performance than MethodⅡ.However,MethodⅡdoes not need prior information,so it has a wider range of applications.
基金supported by the National Natural Science Foundation of China(Grant No.61831019).
文摘Generalized cross-correlation is considered as the most straightforward time delay estimation algorithm.Depending on various weighting function,different methods were derived and a straightforward method,named phase transform(PHAT)has been widely used.PHAT is well-known for its robustness to reverberation and its sensitivity to noise,which is partly due to the fact that PHAT distributes same weights to the frequencies dominated by signal or noise.To alleviate this problem,two weighting functions are proposed in this paper.By taking a posteriori signal-to-noise ratio(SNR)into account to classify reliable and unreliable frequencies,different weights could be assigned.The first proposed weighting function borrows the idea of binary mask and distributes same weights to frequencies in same set,whereas,the second one assigns weights based on coherence function.Experiments showed the robustness of proposed methods to reverberation and noise for improving the performance of time delay estimation through various criteria.
基金supported by the National Natural Science Foundation of China under Grant No.61172140‘985’ Key Projects for Excellent Teaching Team Supporting (postgraduate) under Grant No.A1098522-02
文摘This paper presents a novel time delay estimation (TDE) method using the concept of entropy. The relative delay is estimated by minimizing the estimated joint entropy of multiple sensor output signals. When estimating the entropy, the information about the prior distribution of the source signal is not required. Instead, the Parzen window estimator is employed to estimate the density function of the source signal from multiple sensor output signals. Meanwhile, based on the Parzen window estimator, the Renyi's quadratic entropy (RQE) is incorporated to effectively and efficiently estimate the high-dimensional joint entropy of the multichannel outputs. Furthermore, a modified form of the joint entropy for embedding information about reverberation (multipath reflections) for speech signals is introduced to enhance the estimator's robustness against reverberation.
文摘An LMS-like algorithm is applied for estimating the time-varying parameter theta-n in the linear model y(n) = phi-n-tau-theta-n + upsilon-n, which is general in the sense that none of the probabilistic properties such as stationarity, Markov property, independence and ergodicity is imposed on any of the processes {y(n)}, {phi-n}, {theta-n} and {upsilon-n}. It is shown that the alpha-th moment of the estimation error is of order of the alpha-th moment of the observation noise and the parameter variation w(n) change in equivalence theta-n - theta-n-1.
基金supported by the foundation of National Key Laboratory of Electromagnetic Environment(Grant No.202103012).
文摘The true-time delay(TTD)units are critical for solving beam squint and frequency selective fading inWideband Large-Scale Antenna Systems(LSASs).In this work,we propose a TTD array architecture for wideband multi-beam tracking that eliminates the beam squint phenomenon and filters out interference signals by applying a spatial filter and time delay estimations(TDEs).The paper presents a novel approach to spatial filter design by introducing a transformation matrix that can optimize the beam response in a specific direction and at a specific frequency.Using the variable fractional delay(VFD)filters,we propose a TDE algorithm with a Newton-Raphson iteration update process that corrects the arrival time delay difference between sensors.Simulations and examples have demonstrated that the proposed architecture can achieve beam tracking within 10 ms at the low signalto-noise ratio(SNR)and demodulation loss is less than 0.5 dB in wideband multi-beam scenarios.
文摘On account of the traditional multiple signal classification(MUSIC)algorithm has poor performance in time delay estimation under the condition of small sampling data and low SNR.In this paper,the traditional MUSIC algorithm is improved.The algorithm combines the idea of spatial smoothing,constructs a new covariance matrix using the covariance information of the measurement data,and constructs a weighted value using the modified noise eigenvalues to weight the traditional estimation spectrum.Simulation results show that the improved algorithm has steeper spectral peaks and better time delay resolution under the condition of inaccurate path number estimation.The time delay estimation accuracy of this algorithm is higher than that of the traditional MUSIC algorithm and the improved SSMUSIC algorithm under the conditions of small sampling data and low SNR.
基金This work was supported by the National Science Foundation of China(10271034)
文摘The asymptotic behavior of the solutions to a class of pseudoparabolic viscous diffusion equation with periodic initial condition is studied by using the spectral method. The semidiscrete Fourier approximate solution of the problem is constructed and the error estimation between spectral approximate solution and exact solution on large time is also obtained. The existence of the approximate attractor AN and the upper semicontinuity d(AN,A) → 0 are proved.
文摘Underwater acoustic communication based on Pattern Tune Delay Shift Coding (PDS) communication scheme is studied. The time delay shift values of the pattern are used to encode the digital information in the PDS scheme, which belongs to the Pulse Position Modulation (PPM). The duty cycle of the PDS scheme is small, so it can economize the power for communication. By use of different patterns for code division and different frequencies for channel division, the communication system is capable of mitigating the inter-symbol interference (ISI) caused by the muhipath channel. The data rate of communication is 1000 bits/s at 8 kHz bandwidth. The receiver separates the channels by means of bandpass filters, and performs decoding by 4 copy-correlators to estimate the time delay shift value. Based on the theoretical analysis and numerical simulations, the PDS scheme is shown to be a robust and effective approach for underwater acoustic communication.
文摘A least square (IS) parametric channel estimation method in broadband mt/ltiple input multiple output (MIMO) orthogonal frequency division multiplexing (OFDM) systems is proposed. The mean square error (MSE) performance using optimal training pilots is also given, which proves the method can improve the estimation precision greatly in sparse channel.. Since such method needs the multi-path time delays information of the channel, the probabilistic data association (PDA) method is employed to estimate the time delay of each path. Simulation results show that both the bit error rate (BER) and the MSE performance of the proposed method are better than the traditional LS channel estimation method.
基金This work was supported by the National Natural Science Foundation(NNSF)of China under grant no.61673386,62073335the China Postdoctoral Science Foundation(2017M613201,2019T120944).
文摘For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang For the case that two pursuers intercept an evasive target,the cooperative strategies and state estimation methods taken by pursuers can seriously affect the guidance accuracy for the target,which performs a bang-bang evasive maneuver with a random switching time.Combined Fast multiple model adaptive estimation(Fast MMAE)algorithm,the cooperative guidance law takes detection configuration affecting the accuracy of interception into consideration.Introduced the detection error model related to the line-of-sight(LOS)separation angle of two interceptors,an optimal cooperative guidance law solving the optimization problem is designed to modulate the LOS separation angle to reduce the estimation error and improve the interception performance.Due to the uncertainty of the target bang-bang maneuver switching time and the effective fitting of its multi-modal motion,Fast MMAE is introduced to identify its maneuver switching time and estimate the acceleration of the target to track and intercept the target accurately.The designed cooperative optimal guidance law with Fast MMAE has better estimation ability and interception performance than the traditional guidance law and estimation method via Monte Carlo simulation.