Aiming at the poor dynamic performance and low navigation precision of traditional fading
Kalman filter in BDS dynamic positioning, an improved fading Kalman filter based on fading factor vector is
proposed. The fading factor is extended to a fading factor vector, and each element of the vector corresponds to
each state component. Based on the difference between the actual observed quantity and the predicted one, the
value of the vector is changed automatically. The memory length of different channel is changed in real time
according to the dynamic property of the corresponding state component. The actual observation data of BDS is
used to test the algorithm. The experimental results show that compared with the traditional fading Kalman filter
and the method of the third references, the positioning precision of the algorithm is improved by 46.3% and
23.6% respectively.
This presentation speak's about Kalman Filter. In the presentation arithmetic behind Kalman filter is defined. The presentation is concluded with application example of Kalman filter.
This presentation speak's about Kalman Filter. In the presentation arithmetic behind Kalman filter is defined. The presentation is concluded with application example of Kalman filter.
Understanding kalman filter for soc estimation.Ratul
In the Battery Management System (BMS) the State of Charge (SOC) is closely related to the reliable and safe operation of lithium-ion (Li-ion) batteries. Kalman Filter is an effective algorithm for estimating SOC with a battery modeling. This presentation will briefly describe about battery modeling and Kalman Filter for SOC estimation.
Process RTK Data Based On Kalman Filtering AlgorithmIJRES Journal
With the development of satellite positioning technology, there is a strong need for high accuracy
position information. Currently the most widely used high-precision positioning technology is RTK(Real-Time
Kinematic).RTK technology is the key to using carrier phase measurements. It takes advantage of the base
stations and monitor stations observed error of spatial correlation, except monitor stations observed by means of
differential most of the errors in the data, in order to achieve high accuracy positioning.[3]Based on Kalman
filtering algorithm to handle the noise of RTK data and selecting appropriate models to further improve the
accuracy of the data. This paper will explore the use of Kalman filtering method of RTK data processing, which
reduces random noise interference, thus improving the accuracy of GNSS deformation monitoring data.[1]
Self-adaptive container monitoring with performance-aware Load-Shedding policies, by Rolando Brondolin, PhD student in System Architecture at Politecnico di Milano
Kalman Filter, also known as Linear Quadratic Estimation (LQE) is the algorithm that uses series of measurements that are observed over time and that contains statistical noise and other inaccuracies that are found in the given system. Copy the link given below and paste it in new browser window to get more information on Kalman Filter:- http://www.transtutors.com/homework-help/statistics/kalman-filter.aspx
CONVEX OPTIMIZATION BASED CONGESTION CONTROL IN LAYERED SATELLITE NETWORKSIJCI JOURNAL
A multi-layered satellite network consisting of geosynchronous and nano-satellites is suited to perform
space situational awareness. The nano-satellites collect information of space objects and transfer data to
ground stations through the geosynchronous satellites. The dynamic topology of the network, large
propagation delays and bulk data transfers results in a congested network. In this paper, we present a
convex optimization based congestion control algorithm. Using snapshots of the network, operating
parameters such as incoming, outgoing rates and buffer utilization are monitored. The operating
parameters of a satellite are formulated as a convex function and using convex optimization techniques, the
incoming data rates are evaluated to minimize congestion. Performance comparison of our algorithm with
Transmission Control Protocol congestion control mechanism is presented. The simulation results show
that our algorithm reduces congestion while facilitating higher transmission rates.
Investigation of repeated blasts at Aitik mine using waveform cross correlationIvan Kitov
We present results of signal detection from repeated events at the Aitik and Kiruna mines in Sweden as based on waveform cross correlation. Several advanced methods based on tensor Singular Value Decomposition is applied to waveforms measured at seismic array ARCES, which consists of three-component sensors.
Velocity analysis is one of the prime aspects of seismic data processing. Velocity analysis is an
iterative process and one keeps on improving subsurface velocity field at different stages of processing. These
analyses require an initial velocity field, but in a virgin area, it is required, to estimate this, from the seismic
data itself by employing CVS (Constant Velocity Stack) or t
2
-x
2 methods. In the present context, we demonstrate
using field data, that t
2
-x
2 method based velocities are more reliable than CVS based velocities for the
subsequent velocity analysis purposes.
In this paper, we have described the coordinate (position) estimation of automatic steered car by using kalman filter and prior knowledge of position of car i.e. its state equation. The kalman filter is one of the most widely used method for tracking and estimation due to its simplicity, optimality, tractability and robustness. However, the application to non linear system is difficult but in extended kalman filter we make it easy as we first linearize the system so that kalman filter can be applied. Kalman has been designed to integrate map matching and GPS system which is used in automatic vehicle location system and very useful tool in navigation. It takes errors or uncertainties via covariance matrix and then implemented to nullify those uncertainties. This paper reviews the motivation, development, use, and implications of the Kalman Filter.
Understanding kalman filter for soc estimation.Ratul
In the Battery Management System (BMS) the State of Charge (SOC) is closely related to the reliable and safe operation of lithium-ion (Li-ion) batteries. Kalman Filter is an effective algorithm for estimating SOC with a battery modeling. This presentation will briefly describe about battery modeling and Kalman Filter for SOC estimation.
Process RTK Data Based On Kalman Filtering AlgorithmIJRES Journal
With the development of satellite positioning technology, there is a strong need for high accuracy
position information. Currently the most widely used high-precision positioning technology is RTK(Real-Time
Kinematic).RTK technology is the key to using carrier phase measurements. It takes advantage of the base
stations and monitor stations observed error of spatial correlation, except monitor stations observed by means of
differential most of the errors in the data, in order to achieve high accuracy positioning.[3]Based on Kalman
filtering algorithm to handle the noise of RTK data and selecting appropriate models to further improve the
accuracy of the data. This paper will explore the use of Kalman filtering method of RTK data processing, which
reduces random noise interference, thus improving the accuracy of GNSS deformation monitoring data.[1]
Self-adaptive container monitoring with performance-aware Load-Shedding policies, by Rolando Brondolin, PhD student in System Architecture at Politecnico di Milano
Kalman Filter, also known as Linear Quadratic Estimation (LQE) is the algorithm that uses series of measurements that are observed over time and that contains statistical noise and other inaccuracies that are found in the given system. Copy the link given below and paste it in new browser window to get more information on Kalman Filter:- http://www.transtutors.com/homework-help/statistics/kalman-filter.aspx
CONVEX OPTIMIZATION BASED CONGESTION CONTROL IN LAYERED SATELLITE NETWORKSIJCI JOURNAL
A multi-layered satellite network consisting of geosynchronous and nano-satellites is suited to perform
space situational awareness. The nano-satellites collect information of space objects and transfer data to
ground stations through the geosynchronous satellites. The dynamic topology of the network, large
propagation delays and bulk data transfers results in a congested network. In this paper, we present a
convex optimization based congestion control algorithm. Using snapshots of the network, operating
parameters such as incoming, outgoing rates and buffer utilization are monitored. The operating
parameters of a satellite are formulated as a convex function and using convex optimization techniques, the
incoming data rates are evaluated to minimize congestion. Performance comparison of our algorithm with
Transmission Control Protocol congestion control mechanism is presented. The simulation results show
that our algorithm reduces congestion while facilitating higher transmission rates.
Investigation of repeated blasts at Aitik mine using waveform cross correlationIvan Kitov
We present results of signal detection from repeated events at the Aitik and Kiruna mines in Sweden as based on waveform cross correlation. Several advanced methods based on tensor Singular Value Decomposition is applied to waveforms measured at seismic array ARCES, which consists of three-component sensors.
Velocity analysis is one of the prime aspects of seismic data processing. Velocity analysis is an
iterative process and one keeps on improving subsurface velocity field at different stages of processing. These
analyses require an initial velocity field, but in a virgin area, it is required, to estimate this, from the seismic
data itself by employing CVS (Constant Velocity Stack) or t
2
-x
2 methods. In the present context, we demonstrate
using field data, that t
2
-x
2 method based velocities are more reliable than CVS based velocities for the
subsequent velocity analysis purposes.
In this paper, we have described the coordinate (position) estimation of automatic steered car by using kalman filter and prior knowledge of position of car i.e. its state equation. The kalman filter is one of the most widely used method for tracking and estimation due to its simplicity, optimality, tractability and robustness. However, the application to non linear system is difficult but in extended kalman filter we make it easy as we first linearize the system so that kalman filter can be applied. Kalman has been designed to integrate map matching and GPS system which is used in automatic vehicle location system and very useful tool in navigation. It takes errors or uncertainties via covariance matrix and then implemented to nullify those uncertainties. This paper reviews the motivation, development, use, and implications of the Kalman Filter.
Enhanced Mobile Node Tracking With Received Signal Strength in Wireless Senso...IOSR Journals
Abstract : Node localization is important parameter in WSN. Node localization is required to report origin of
events which makes it one of the important challenges in WSN. Received signal strength (RSS) is used to
calculate distance between mobile node and reference node. The position of the mobile node is calculated using
multilateration algorithm (MA). Extended Kalman filter (EKF) is utilized to estimate the actual position. In this
paper, the implementation and enhancement of a tracking system based on RSS indicator with the aid of an
Extended Kalman Filter (EKF) is described and an adaptive filter is derived.
Keywords - Extended Kalman filter (EKF), mobile node tracking, multilateration algorithm (MA), received
signal strength (RSS), Wireless sensor networks (WSN)
Enhanced Mobile Node Tracking With Received Signal Strength in Wireless Senso...IOSR Journals
Node localization is important parameter in WSN. Node localization is required to report origin of
events which makes it one of the important challenges in WSN. Received signal strength (RSS) is used to
calculate distance between mobile node and reference node. The position of the mobile node is calculated using
multilateration algorithm (MA). Extended Kalman filter (EKF) is utilized to estimate the actual position. In this
paper, the implementation and enhancement of a tracking system based on RSS indicator with the aid of an
Extended Kalman Filter (EKF) is described and an adaptive filter is derived.
A NEW METHOD OF SMALL-SIGNAL CALIBRATION BASED ON KALMAN FILTERijcseit
The basic principle of Kalman filter (KF) is introduced in this paper, based on which, it presents a new
method for high precision measurement of small-signal instead of the unreal direct one. We have designed a
method of multi-meter information infusion. With this method, we filter the measured value of a type of
special equipment and extract the optimal estimate for true value. Experimental results show that this
method can effectively eliminate the random error of the measurement process. The optimal estimate error
meets the basic requirements of conformity assessment, 3푈95 ≤ 푀푃퐸푉. This method can provide an
algorithm reference for the design of automatic calibration equipment.
A NEW METHOD OF SMALL-SIGNAL CALIBRATION BASED ON KALMAN FILTERijcseit
The basic principle of Kalman filter (KF) is introduced in this paper, based on which, it presents a new
method for high precision measurement of small-signal instead of the unreal direct one. We have designed a
method of multi-meter information infusion. With this method, we filter the measured value of a type of
special equipment and extract the optimal estimate for true value. Experimental results show that this
method can effectively eliminate the random error of the measurement process. The optimal estimate error
meets the basic requirements of conformity assessment, 3푈95 ≤ 푀푃퐸푉. This method can provide an
algorithm reference for the design of automatic calibration equipment.
Refining Underwater Target Localization and Tracking EstimatesCSCJournals
Improving the accuracy and reliability of the localization estimates and tracking of underwater targets is a constant quest in ocean surveillance operations. The localization estimates may vary owing to various noises and interferences such as sensor errors and environmental noises. Even though adaptive filters like the Kalman filter subdue these problems and yield dependable results, targets that undergo maneuvering can cause incomprehensible errors, unless suitable corrective measures are implemented. Simulation studies on improving the localization and tracking estimates for a stationary target as well as a moving target including the maneuvering situations are presented in this paper
A NEW METHOD OF SMALL-SIGNAL CALIBRATION BASED ON KALMAN FILTERijcseit
The basic principle of Kalman filter (KF) is introduced in this paper, based on which, it presents a new
method for high precision measurement of small-signal instead of the unreal direct one. We have designed a
method of multi-meter information infusion. With this method, we filter the measured value of a type of
special equipment and extract the optimal estimate for true value. Experimental results show that this
method can effectively eliminate the random error of the measurement process. The optimal estimate error
meets the basic requirements of conformity assessment, 3푈95 ≤ 푀푃퐸푉. This method can provide an
algorithm reference for the design of automatic calibration equipment.
A NEW METHOD OF SMALL-SIGNAL CALIBRATION BASED ON KALMAN FILTERijcseit
The basic principle of Kalman filter (KF) is introduced in this paper, based on which, it presents a new
method for high precision measurement of small-signal instead of the unreal direct one. We have designed a
method of multi-meter information infusion. With this method, we filter the measured value of a type of
special equipment and extract the optimal estimate for true value. Experimental results show that this
method can effectively eliminate the random error of the measurement process. The optimal estimate error
meets the basic requirements of conformity assessment, 3𝑈95 ≤ 𝑀𝑃𝐸𝑉. This method can provide an
algorithm reference for the design of automatic calibration equipment.
Compensation of Data-Loss in Attitude Control of Spacecraft Systems rinzindorjej
In this paper, a comprehensive comparison of two robust estimation techniques namely, compensated closed-loop Kalman filtering and open-loop Kalman filtering is presented. A common problem of data loss in a real-time control system is investigated through these two schemes. The open-loop scheme, dealing with the data-loss, suffers from several shortcomings. These shortcomings are overcome using compensated scheme, where an accommodating observation signal is obtained through linear prediction technique -- a closed-loop setting and is adopted at a posteriori update step. The calculation and employment of accommodating observation signal causes computational complexity. For simulation purpose, a linear time invariant spacecraft model is however, obtained from the nonlinear spacecraft attitude dynamics through linearization at nonzero equilibrium points -- achieved off-line through Levenberg-Marguardt iterative scheme. Attempt has been made to analyze the selected example from most of the perspectives in order to display the performance of the two techniques.
MODELLING ANALYSIS & DESIGN OF DSP BASED NOVEL SPEED SENSORLESS VECTOR CONTRO...IAEME Publication
Unscented Kalman Filter (UKF), which is an update d version of EKF, is proposed as a state estimator for speed sensorless field oriented contr ol of induction motors. UKF state update computations, different from EKF, are derivative fr ee and they do not involve costly calculation of Jacobian matrices. Moreover, variance of each state is not assumed Gaussian, therefore a more realistic approach is provided by UKF. In order to examine the rotor speed (state V) estimation performance of UKF experimentally under varying spe ed conditions, a trapezoidal speed reference command is embedded into the DSP code. EKF rotor speed estimation successfully tracks the trapezoidal path. It has been observed that the est imated states are quite close to the measured ones. The magnitude of the rotor flux justifies that the estimated dq components of the rotor flux are estimated accurately. A number of simulations were carried out to verify the performance of the speed estimation with UKF. These simulated results are confirmed with the experimental results. While obtaining the experimental results, the real time stator voltages and currents are processed in Matlab with the associated EKF and UKF programs.
Short term traffic volume prediction in umts networks using the kalman filter...ijmnct
Accurate traffic volume prediction in Universal Mobile Telecommunication System (UMTS) networks has
become increasingly important because of its vital role in determining the Quality of Service (QoS)
received by subscribers on these networks. This paper developed a short-term traffic volume prediction
model using the Kalman filter algorithm. The model was implemented in MATLAB and validated using
traffic volume dataset collected from a real telecommunication network using graphical and r2 (coefficient
of determination) approaches. The results indicate that the model performs very well as the predicted
traffic volumes compare very closely with the observed traffic volumes on the graphs. The r2 approach
resulted in r2 values in the range of 0.87 to 0.99 indicating 87% to 99% accuracy which compare very well
with the observed traffic volumes.
Event triggered control design of linear networked systems with quantizationsISA Interchange
This paper is concerned with the control design problem of event-triggered networked systems with both state and control input quantizations. Firstly, an innovative delay system model is proposed that describes the network conditions, state and control input quantizations, and event-triggering mechanism in a unified framework. Secondly, based on this model, the criteria for the asymptotical stability analysis and control synthesis of event-triggered networked control systems are established in terms of linear matrix inequalities (LMIs). Simulation results are given to illustrate the effectiveness of the proposed method.
Exploratory study on the use of crushed cockle shell as partial sand replacem...IJRES Journal
The increasing demand for natural river sand supply for the use in construction industry along
with the issue of environmental problem posed by the dumping of cockle shell, a by-product from cockle
business have initiated research towards producing a more environmental friendly concrete. This research
explores the potential use of cockle shell as partial sand replacement in concrete production. Cockle shell used
in this experimental work were crushed to smaller size almost similar to sand before mixed in concrete. A total
of six concrete mixtures were prepared with varying the percentages of cockle shell viz. 0%, 5%, 10%, 15%,
20% and 25%. All the specimens were subjected to continuous water curing. The compressive strength test was
conducted at 28 days in accordance to BS EN 12390. Finding shows that integration of suitable content of
crushed cockle shell of 10% as partial sand replacement able to enhance the compressive strength of concrete.
Adopting crushed cockle shell as partial sand replacement in concrete would reduce natural river sand
consumption as well as reducing the amount of cockle shell disposed as waste.
Congenital Malaria: Correlation of Umbilical Cord Plasmodium falciparum Paras...IJRES Journal
The vertical (trans-placental) transmission of the parasite Plasmodium falciparum from
pregnant mother to fetus during gestational period was investigated in a clinical research involving 43 full term
pregnant women in selected Hospitals in Jimeta Yola, Adamawa State Nigeria. During the observational study,
parasitemia was determined by light microscopic examination of umbilical and maternal peripheral blood film
for the presence of the trophozoites of Plasmodium falciparum. Correlational analysis was then carried on the
result obtained at p<0.05.><0.05) was established between maternal peripheral blood and umbilical cord
blood parasitemia with Pearson’s correlation coefficient of 0.762. Thus, in a malaria endemic area like Yola,
Adamawa State, Nigeria, with a stable transmission of parasite, there is a high probability of vertical
transmission of Plasmodium falciparum parasite from mother to fetus during gestation that can be followed by
the presentation of the symptoms of malaria by the newborn and other malaria related complications. Families
are advised to consistently sleep under appropriately treated insecticide mosquito net to avoid mosquito bite and
subsequent infestation.
Review: Nonlinear Techniques for Analysis of Heart Rate VariabilityIJRES Journal
Heart rate variability (HRV) is a measure of the balance between sympathetic mediators of heart
rate that is the effect of epinephrine and norepinephrine released from sympathetic nerve fibres acting on the
sino-atrial and atrio-ventricular nodes which increase the rate of cardiac contraction and facilitate conduction at
the atrio-ventricular node and parasympathetic mediators of heart rate that is the influence of acetylcholine
released by the parasympathetic nerve fibres acting on the sino-atrial and atrio-ventricular nodes leading to a
decrease in the heart rate and a slowing of conduction at the atrio-ventricular node. Sympathetic mediators
appear to exert their influence over longer time periods and are reflected in the low frequency power(LFP) of
the HRV spectrum (between 0.04Hz and 0.15 Hz).Vagal mediators exert their influence more quickly on the
heart and principally affect the high frequency power (HFP) of the HRV spectrum (between 0.15Hz and 0.4
Hz). Thus at any point in time the LFP:HFP ratio is a proxy for the sympatho- vagal balance. Thus HRV is a
valuable tool to investigate the sympathetic and parasympathetic function of the autonomic nervous system.
Study of HRV enhance our understanding of physiological phenomenon, the actions of medications and disease
mechanisms but large scale prospective studies are needed to determine the sensitivity, specificity and predictive
values of heart rate variability regarding death or morbidity in cardiac and non-cardiac patients. This paper
presents the linear and nonlinear to analysis the HRV.
Dynamic Modeling for Gas Phase Propylene Copolymerization in a Fluidized Bed ...IJRES Journal
A two-phase model is proposed for describing the dynamics of a fluidized bed reactor used for
polypropylene production. In the proposed model, the fluidized bed is divided into an emulsion and bubble
phase where the flow of gas is considered to be plug flow through the bubbles and perfectly mixed through the
emulsion phase. Similar previous models, consider the reaction in the emulsion phase only. In this work the
contribution of reaction in the bubble phase is considered and its effect on the overall polypropylene production
is investigated the kinetic model is combined with hydrodynamic model in order to develop a comprehensive
model for gas-phase propylene copolymerization reactor. Simulation profiles of the proposed model were
compared with those of well mixed model for the emulsion phase temperature. The simulated temperature
profile showed a lower rate of change compared to the previously reported models due to lower polymerization
rate. Model simulation showed that about 13% of the produced polymer comes from the bubble phase and this
considerable amount of polymerization in the bubbles should not be neglected in any modeling attempt.
Study and evaluation for different types of Sudanese crude oil propertiesIJRES Journal
Sudanese crude oil is regarded as one of the sweet types of crude in the world, Sulphur containing
compounds are un desirable in petroleum because they de activate the catalyst during the refining processes and
are the main source of acid rains and environmental pollution.(Mark Cullen 2001),Since it contains considerable
amount of salts and acids, it negatively impact the production facilities and transportation lines with corrosive
materials. However it suffers other problems in flow properties represented by the high viscosity and high
percentage of wax. Samples were collected after the initial and final treatment at CPF, and tested for
physical and chemical properties.wax content is in the range 23-31 weight % while asphalting content is about
0.1 weight% . Resin content is 13-7 weight % and deposits are 0.01 weight%. The carbon number distribution in
the crude is in the range 7-35 carbon atoms. The pour point vary between 39°C-42°C and the boiling point is in
the range 70 °C - 533 °C.
A Short Report on Different Wavelets and Their StructuresIJRES Journal
This article consists of basics of wavelet analysis required for understanding of and use of wavelet
theory. In this article we briefly discuss about HAAR wavelet transform their space and structures.
A Case Study on Academic Services Application Using Agile Methodology for Mob...IJRES Journal
Recently, Mobile Cloud Computing reveals many modern development areas in the Information
Technology industry. Several software engineering frameworks and methodologies have been developed to
provide solutions for deploying cloud computing resources on mobile application development. Agile
methodology is one of the most commonly used methodologies in the field. This paper presents the MCCAS a
Web and Mobile application that provide feature for the Palestinian higher education/academic institutions. An
Agile methodology was used in the development of the MCCAS but in parallel with emphasis on Cloud
computing resources deployment. Also many related issues is discussed such as how software engineering
modern methodologies (advances) influenced the development process.
Wear Analysis on Cylindrical Cam with Flexible RodIJRES Journal
Firstly, the kinetic equation of spatial cylindrical cam with flexible rod has been established. Then, an
accurate cylindrical cam mechanism model has been established based on the spatial modeling software
Solidworks. The dynamic effect of flexible rod on mechanical system was studied in detail based on the
mechanical system dynamics analytical software Adams, and Archard wear model is used to predict the wear of
the cam. We used Ansys to create finite element model of the cam link, extracted the first five order mode to
export into Adams. The simulation results show that the dynamic characteristics of spatial cylindrical cam
mechanical system with flexible rod is closed to ideal mechanism. During the cam rotate one cycle, the collision
in the linkage with a clearance occurs in some special location, others still keep a continuous contact, and the
prediction of wear loss is smaller than rigid body.
DDOS Attacks-A Stealthy Way of Implementation and DetectionIJRES Journal
Cloud Computing is a new paradigm provides various host service [paas, saas, Iaas over the internet.
According to a self-service,on-demand and pay as you use business model,the customers will obtain the cloud
resources and services.It is a virtual shared service.Cloud Computing has three basic abstraction layers System
layer(Virtual Machine abstraction of a server),Platform layer(A virtualized operating system, database and
webserver of a server and Application layer(It includes Web Applications).Denial of Service attack is an attempt
to make a machine or network resource unavailable to the intended user. In DOS a user or organization is
deprived of the services of a resource they would normally expect to have.A Successful DOS attack is a highly
noticeable event impacting the entire online user base.DOS attack is found by First Mathematical Metrical
Method (Rate Controlling,Timing Window,Worst Case and Pattern Matching)DOS attack not only affect the
Quality of the service and also affect the performance of the server. DDOS attacks are launched from Botnet-A
large Cluster of Connected device(cellphone,pc or router) infected with malware that allow remote control by an
attacker. Intruder using SIPDAS in DDOS to perform attack.SIPDAS attack strategies are detected using Heap
Space Monitoring Algorithm.
Positioning Error Analysis and Compensation of Differential Precision WorkbenchIJRES Journal
Positioning error is a widely problem exists in mechanism, the important factors affecting machining
precision. In order to reduce the error caused by positioning problem processing, based on the differential
workbench as the research object, using the method of theoretical analysis and experimental verification, the
analysis of positioning error mechanism and source of complete differential precision workbench error
compensation, improve the accuracy of the device, provides a method for the application of modern machine
tools. table.
Status of Heavy metal pollution in Mithi river: Then and NowIJRES Journal
The Mithi River runs through the heart of suburban Mumbai. Its path of flow has been severely
damaged due to industrialization and urbanization. The quality of water has been deteriorating ever since. The
Municipal and industrial effluents are discharged in unchecked amounts. The municipal discharge comprises
untreated domestic and sewage wastes whereas the industries are majorly discharge chemicals and other toxic
effluents which are responsible in increasing the metal load of the river. In the current study, the water is
analysed for heavy metals- Copper, Cadmium, Chromium, Lead and Nickel. It also includes a brief
understanding on the fluctuations that have occurred in the heavy metal pollution, through the compilation of
studies carried out in the area previously.
The Low-Temperature Radiant Floor Heating System Design and Experimental Stud...IJRES Journal
In order to analyze the temperature distribution of the low-temperature radiant floor heating system
that uses the condensing wall-hung boiler as the heat source, the heating system is designed according to a typical
house facing south in Shanghai. The experiments are carried out to study the effects of the supply water
temperature on the thermal comfort of the system. Eventually, the supply water temperature that makes people in
the room feel more comfortable is obtained. The result shows that in the condition of that the outside temperature
is 8~15℃ and the relative humidity is 30~70%RH, the temperature distribution in the room is from high to low
when the height is from bottom to top. The floor surface temperature is highest, but its uniformity is very poor.
When the heating system reaches the steady state, the air temperature of the room is uniform. When the supply
water temperature is 63℃ The room is relatively comfortable at the above experimental condition.
Experimental study on critical closing pressure of mudstone fractured reservoirsIJRES Journal
In the process of oil and gas exploitation of mudstone-fractured reservoir in Daqing oilfield, the
permeability of fracture is easily affected by the influence of stress change, which is shown by the sensitivity of
the permeability to the stress. With the extension of time mining in the fractured mudstone reservoir, fracture
stress sensitivity is obvious in vast decline of production and great influence on reduced yields. In order to
reasonably determine the way of developing method, working system and the exploitation rate of the reservoir,
correspondingly protecting reservoir productivity, improve ultimate recovery. On the basis of the previous
research on the stress sensitivity of fractured mudstone, this essay studied the critical closing pressure of the
simulated underground fractured mudstone under the laboratory condition.
Correlation Analysis of Tool Wear and Cutting Sound SignalIJRES Journal
With the classic signal analysis and processing method, the cutting of the audio signal in time
domain and frequency domain analysis. We reached the following conclusions: in the time domain analysis,
cutting audio signals mean and the variance associated with tool wear state change occurred did not change
significantly, and tool wear is not high degree of correlation, and the mean-square value of the audio signal
changes in the size and tool wear the state has a good relationship.
Reduce Resources for Privacy in Mobile Cloud Computing Using Blowfish and DSA...IJRES Journal
Mobile cloud computing in light of the increasing popularity among users of mobile smart
technology which is the next indispensable that enables users to take advantage of the storage cloud computing
services. However, mobile cloud computing, the migration of information on the cloud is reliable their privacy
and security issues. Moreover, mobile cloud computing has limitations in resources such as power energy,
processor, Memory and storage. In this paper, we propose a solution to the problem of privacy with saving and
reducing resources power energy, processor and Memory. This is done through data encryption in the mobile
cloud computing by symmetric algorithm and sent to the private cloud and then the data is encrypted again and
sent to the public cloud through Asymmetric algorithm. The experimental results showed after a comparison
between encryption algorithms less time and less time to decryption are as follows: Blowfish algorithm for
symmetric and the DSA algorithm for Asymmetric. The analysis results showed a significant improvement in
reducing the resources in the period of time and power energy consumption and processor.
Resistance of Dryland Rice to Stem Borer (Scirpophaga incertulas Wlk.) Using ...IJRES Journal
Rice stem borer is one of the important pests that attack plants so as to reduce production. One way
to control pests is to use organic fertilizers that make the plant stronger and healthier. This study was conducted
to determine the effects of organic fertilizers with various doses without the use of pesticides in controlling stem
borer, Scirpophaga incertulas. Methods using split-split plot design which consists of two levels of the whole
plot factor (solid and liquid organic fertilizers), two levels of the subplot factor (conventional and industry,
Tiens and Mitraflora), and four levels of the sub-subplot factor of conventional and industry (5, 10, 15, 20
tonnes/ha), and one level of the sub-subplot factor of Tiens and Mitraflora (each 2 ml/l). Based on the results
Statistical analysis there were no significant differences among treatments and this shows that the use of organic
fertilizers that only a dose of 5 tonnes/ha is sufficient available nutrients that make plants more robust and
resistant to control stem borer, besides that can reduce production costs and friendly to the environment when
compared with using inorganic fertilizers.
A novel high-precision curvature-compensated CMOS bandgap reference without u...IJRES Journal
A novel high-precision curvature-compensated bandgap reference (BGR) without using op-amp
is presented in this paper. It is based on second-order curvature correction principle, which is a weighted sum of
two voltage curves which have opposite curvature characteristic. One voltage curve is achieved by first-order
curvature-compensated bandgap reference (FCBGR) without using op-amp and the other found by using W
function is achieved by utilizing a positive temperature coefficient (TC) exponential current and a linear
negative TC current to flow a linear resistor. The exponential current is gained by using anegative TC voltage to
control a MOSFET in sub-threshold region. In the temperature ranging from -40℃ to 125℃, experimental
results implemented with SMIC 0.18μm CMOS process demonstrate that the presented BGR can achieve a TC
as low as 2.2 ppm/℃ and power-supply rejection ratio(PSRR)is -69 dB without any filtering capacitor at 2.0 V.
While the range of the supply voltage is from 1.7 to 3.0 V, the output voltage line regulation is about1 mV/ V
and the maximum TC is 3.4 ppm/℃.
Structural aspect on carbon dioxide capture in nanotubesIJRES Journal
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An improved fading Kalman filter in the application of BDS dynamic positioning
1. International Journal of Research in Engineering and Science (IJRES)
ISSN (Online): 2320-9364, ISSN (Print): 2320-9356
www.ijres.org Volume 4 Issue 2 ǁ February. 2016 ǁ PP.01-08
www.ijres.org 1 | Page
An improved fading Kalman filter in the application of BDS
dynamic positioning
Yi Qingming, Xie Jinhua, Shi Min
(College of Information Science and Technology, Jinan University, China)
ABSTRACT: Aiming at the poor dynamic performance and low navigation precision of traditional fading
Kalman filter in BDS dynamic positioning, an improved fading Kalman filter based on fading factor vector is
proposed. The fading factor is extended to a fading factor vector, and each element of the vector corresponds to
each state component. Based on the difference between the actual observed quantity and the predicted one, the
value of the vector is changed automatically. The memory length of different channel is changed in real time
according to the dynamic property of the corresponding state component. The actual observation data of BDS is
used to test the algorithm. The experimental results show that compared with the traditional fading Kalman filter
and the method of the third references, the positioning precision of the algorithm is improved by 46.3% and
23.6% respectively.
Keywords: BDS positioning, fading factor vector, Kalman filter, memory length;
I. Introduction
The Beidou system(BDS) goes on retaining the active positioning, two-way timing and short message
communication service of the Beidou satellite navigation testing system. Since December 27, 2012, The BDS
provides continuous passive location, navigation, timing and other services to the Asia Pacific, and is expected
to finish building the BDS which is global coverage in about 2020[1]
. As the BDS infrastructure getting better
gradually, BDS receiver terminal will be widely used in surveying and mapping, telecom, exploration,
transportation and other fields. Therefore, it is necessary to improve the calculating precision of positioning
algorithm.
In satellite navigation and positioning data processing, Kalman filter technology is a kind of filtering
algorithm which is used frequently. When the observation information, model and statistical information are
reliable, Kalman filter’s computing performance is perfect. But when there is large model error or states
mutation, the error between the state estimate value of Kalman filter and the actual system is huge, and can not
reflect the real system, and even cause filtering divergence in under certain conditions. To solve the problem,
the fading Klaman filter is proposed by some scholars[3,4,5]
. Using the fading factor to limit the memory length,
the fading Kalman filter could make full use of the current observations, and eliminate “outdated” observation
data gradually. The algorithm can effectively solve the problem of filtering divergence, and improves the
stability of the calculation process. However, the filtering result turns into suboptimal, and its result accuracy is
not guaranteed[6,7,8]
.
Before the BDS data is widely used in positioning analysis, some simulation experiments have been used to
study the positioning performance of Beidou system. With the improvement of the Beidou data system and the
wide application of Beidou data, more and more scholars begin to study the real metrical performance of BDS[9]
.
In order to solve the problem of low dynamic performance and low positioning accuracy of traditional fading
2. An improved fading Kalman filter in the application of BDS dynamic positioning
www.ijres.org 2 | Page
Kalman filter algorithm, an improved Kalman filter algorithm based on fading factor vector is propose. It is used
in BDS dynamic navigation and positioning, and has been tested by the actual BDS observation data. The
experimental results show that the algorithm effectively improves the dynamic performance and positioning
result’s precision of BDS.
II. Fading Kalman filter positioning model
In order to determine the position and speed of the carrier, the state vector X is defined as below.
T
zyx bvzvyvxX (1)
In formula (1), x , xv , y , yv , z and zv are the position and velocity components of the carrier on a three
axis coordinate system, and b is the clock error. Thus, the state transition equation is defined as below.
kkkkk WXΦX 11, (2)
kX is the state vector of k moment, and kW is the system noise vector, while 1, kkΦ is state transition
matrix.
1000000
T100000
0T10000
00T1000
000T100
0000T10
00000T1
1,kkΦ (3)
T
bzyxk 000W (4)
x , y , z and b are white Gaussian noise, whose means are zero, and variance are
2
x 、
2
y 、
2
z and
2
b respectively. T is the sampling interval. In a moment, when the observation data of N satellites are
available, the pseudorange observation equation is defined as below.
iiii
ncbzzyyxx sssi 222
)()()(~ (5)
i~ is the number i satellite’s pseudorange observation. i
n is the noise. ( isx , isy , isz )is the 3d coordinate
for the satellite, while Ni 1 . c is the speed of light. After formula (5) is linearized by Taylor series
expansion, we can obtain system measurement equation as show below.
kkkk VXHZ (6)
T
Nk ~~~
21 Z (7)
3. An improved fading Kalman filter in the application of BDS dynamic positioning
www.ijres.org 3 | Page
kZ is the observation vector for k moment, which is a n-dimensional column vector. N is the number of
satellites whose signals are received by the receiver. kH is the observation matrix. kV is the observation noise.
The recursive equation of fading Kalman filter is showed as below.
1,.
1
1,1,
11
1,1,11,1,
1111
)(
)(
)(+=
=
kkkkkk
k
T
kkkk
T
kkkk
k,k-kkkk,k-k,k
k
T
kkkkkkkkk
,k-k-k,k-k,k-
PHKIP
RHPHHPK
XHZKXX
QΦPΦP
XΦX
(8)
kQ is the system process noise covariance matrix. kK is the gain matrix. I is the unit matrix. kR is the
observation noise covariance matrix. The fading Kalman filter used fading factor k to calculate the 1, kkP ,
and this differs from the standard Kalman filter. The memory length of Kalman filter is limited by the fading
factor to make full use of the current observations. The filter divergence has been avoided by aggravated the role
of current observation data in state estimation.
III. The improved fading Kalman filter
According to formula (8), When the traditional fading Kalman filter estimating the error variance matrix, all
the elements in the matrix is increased by )1( kk times. Such a kind of indiscriminate multiplication
increases the redundancy. Although the problem of filtering divergence has been solved effectively, the
calculation result contains larger error, so that the accuracy is lower.
In order to solve the problems above, the traditional fading Kalman filter algorithm has been improved as
below.
In order to solve the problems above, the traditional fading Kalman filter algorithm has been improved as
below.
The state vector is defined as T
nk xxx 21X . Based on the different elements in state
vector, a new fading factor vector is built, which is defined as T
nk 21ω . And each element
of vector kω corresponds to each element of the state vector, while n is the dimension of the state vector. Thus,
the forecast state covariance is defined as below.
T
k
T
kkkkkkk diagdiag )()(ˆ
1,1,11, ωΦPΦωP (9)
kkk QPP
ˆ
1, (10)
The predictive value of state vector is defined as below.
11.1,
ˆ
kkkkk XΦX (11)
4. An improved fading Kalman filter in the application of BDS dynamic positioning
www.ijres.org 4 | Page
In which 1,
ˆ kkX is showed as below.
nkk xxx ˆˆˆˆ
211, X (12)
i
kXˆ is defined as below.
T
ni
i
k xxxx ...ˆ...ˆ 21X , ,...,n,i 21 (13)
Thus, the predictive value of the observation vector is showed as below.
i
kk
i
k XHZ ˆˆ (14)
The pseudorange residual error is defined as below.
i
kk
i
kk ZZV ˆ
1, (15)
In which, ))(( 1,1,1,
Ti
kk
i
kk
i
kk E VVV is the covariance matrix of the pseudorange residual error, and it
is defined as below.
M
i
Ti
ikik
i
ikik
i
kk
M 1
1,1,1, ))((
1
VVV (16)
The value of M is determined by experience. Many experiments proved that when M is 10, the covariance
matrix can be estimated effectively without large computational complexity.
Each element of the fading factor vector can be calculated by the following formulas.
]}[/][,1max{ k
i
ki trtr TN (17)
k
T
kkk
i
kk
i
k RHQHVN 1, (18)
T
k
T
kkkkkkkk ΦPΦ HHT 1,1,11, (19)
When 1i , the fading Kalman filter degenerate into basic Kalman filter.
When ji , nji ,...,2,1, , ji , the filtering process is equivalent to the traditional fading Kalman filter,
and all of the elements of the estimation error variance matrix will be increased at the same time. In this case,
when the system state change, the estimation error will increase, which leads to
i
kN increases. According to the
calculation formulas of the fading factor vector elements, the value of i and 1, kkP will increase. The
algorithm puts the new current observation data in an important position by increasing the filtering gain. And as
a result, the ill-effect of old data is decreased and the tracking ability of Kalman filter is improved.
When ji , nji ,...,2,1, , ji , the elements of fading factor vector are not equal to each other. Carrier
is moving in 3d space. Assume that one of the component of the state changes,
i
kk 1, V and i will increase. In
5. An improved fading Kalman filter in the application of BDS dynamic positioning
www.ijres.org 5 | Page
this way, the improved fading Kalman filter can solve the problem of filtering divergence more effectively, and
the accuracy of the results will be further improved.
In the process of filtering, before estimating the state error covariance matrix, the fading factor vector is
calculated online according to the historical data, the current observation data and the given window length in
advance. The memory length of each channel is changed adaptive. For the channel with high quality observation
data, the length of memory is shortened to track the state of the system and improve the accuracy of results. For
the channel with bad observation data, the weight of the new observation data is reduced to weaken its influence
on the result of the operation.
IV. The experimental results and analysis
The algorithm above is verified by the actual collection of BDS satellite observation data. The receiver that
is used to collect satellite data is UB280 BDS/GPS double system receiver from UNICORE company, which
can receive the B1/B2 signal of BDS and L1/L2 signal of GPS. The receiver is installed in a car, and the antenna
is installed on the roof. The car is moving around the Olympic center of Guangzhou, and its path is showed as
figure 1. The data sampling interval T is 50 ms. The testing time is 10:00 am on July 25, 2015. The car traveled
along the path shown in figure 1, from the starting point, through the section A1A2, section B1B2 and section
C1C2, and to the destination point finally. The observation data of BDS and GPS received during the travel is
collected and stored for the subsequent processing.
Figure 1 the path of the car
The positioning module named TRACK of GPS data processing software named GAMIT can get the car’s
3d coordinate and speed at each moment, whose plane precision is within 2 cm. The result of TRACK module is
selected as the true value of positioning results. On this basis, the results of the three algorithms are compared
with each other with the BDS observation data in MATLAB platform, which are the algorithm in the paper , the
improved fading Kalman filter in reference [3] and the traditional Kalman filter.
The related parameters are selected as shown below. The initial position variance of x and y direction are
222
m100 yx . The variance of speed are
2222
/sm25 yx vv . The variance of clock is
2122
s10
b . The variance of pseudorange measurement noise is
22
m1D , and the variance of
6. An improved fading Kalman filter in the application of BDS dynamic positioning
www.ijres.org 6 | Page
pseudorange rate measurement noise is
222
/sm01.0D , The corresponding noise covariance matrix use
the model in reference literature[6, 10]. The initial value of state is T
00000000 X , and
the initial value of the error variance matrix is )10251002510025100( 3
0
diagP .
Error is the difference between the true value and estimated one. The curve of X coordinate estimation error
is shown in figure 2 and the curve of X speed estimation error is shown in figure 3.
Figure 2 the curve of X coordinate estimation error
Figure 3 the curve of X speed estimation error
The accuracy and operation time of the three algorithms are shown in table 1.
7. An improved fading Kalman filter in the application of BDS dynamic positioning
www.ijres.org 7 | Page
Table 1 the accuracy and operation time of the three algorithms
State component Traditional fading
Kalman filter
The improve fading Kalman
filter in reference [3]
The algorithm in
this paper
X(m) 11.56 8.04 6.19
xV (m/s)
2.52 1.75 1.24
Operation time (ms) 0.216 0.259 0.283
The data in table 1 shows that compared with the traditional Kalman filter, the precision of location of the
algorithm in this paper is improved by 46.3%, and the precision of speed is improved by 50.8%, while the
operation time only increase by 23.7%. Compared with the improved fading Kalman filter in reference
literature[3], the precision of location of the algorithm is improved by 23.6%, and the precision of speed is
improved by 29.1%, while operation time only increased by 9.3%.
V. Summary
This paper proposed an improved fading Kalman filter algorithm based on fading factor vector. On the
basis of traditional Kalman filter, a fading factor vector has been constructed and the method to calculate the
element of vector has been introduced. The algorithm is applied to BDS dynamic positioning. The simulation
results show that the algorithm not only improves the accuracy of BDS dynamic positioning, but also has good
dynamic performance and stable filtering process. Moreover, this paper provides the related experimental data
for the debugging of BD-2 system, and it is very useful for application study of high precision dynamic
positioning of BDS.
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