Nonlinear State Estimation Using Hybrid Robust Cubature Kalman Filter
Journal Title: Journal of Information Systems and Telecommunication - Year 2016, Vol 4, Issue 2
Abstract
In this paper, a novel filter is provided that estimates the states of any nonlinear system, both in the presence and absence of uncertainty with high accuracy. It is well understood that a robust filter design is a compromise between the robustness and the estimation accuracy. In fact, a robust filter is designed to obtain an accurate and suitable performance in presence of modelling errors.So in the absence of any unknown or time-varying uncertainties, the robust filter does not provide the desired performance. The new method provided in this paper, which is named hybrid robust cubature Kalman filter (CKF), is constructed by combining a traditional CKF and a novel robust CKF. The novel robust CKF is designed by merging a traditional CKF with an uncertainty estimator so that it can provide the desired performance in the presence of uncertainty. Since the presence of uncertainty results in a large innovation value, the hybrid robust CKF adapts itself according to the value of the normalized innovation. The CKF and robust CKF filters are run in parallel and at any time, a suitable decision is taken to choose the estimated state of either the CKF or the robust CKF as the final state estimation. To validate the performance of the proposed filters, two examples are given that demonstrate their promising performance.
Authors and Affiliations
Behrouz Safarinejadian, Mohsen Taher
A Hybrid Object Tracking for Hand Gesture (HOTHG) Approach based on MS-MD and its Application
In the research proposed here, a hybrid object tracking approach, namely HOTHG, with its application to hand gesture recognition in American Sign Language; ASL, is realized. This is in fact proposed to track and recogniz...
Joint Relay Selection and Power Allocation in MIMO Cooperative Cognitive Radio Networks
In this work, the issue of joint relay selection and power allocation in Underlay MIMO Cooperative Cognitive Radio Networks (U-MIMO-CCRN) is addressed. The system consists of a number of secondary users (SUs) in the seco...
Fusion of Learning Automata to Optimize Multi-constraint Problem
This paper aims to introduce an effective classification method of learning for partitioning the data in statistical spaces. The work is based on using multi-constraint partitioning on the stochastic learning automata. S...
PSO-Algorithm-Assisted Multiuser Detection for Multiuser and Inter-symbol Interference Suppression in CDMA Communications
Applying particle swarm optimization (PSO) algorithm has become a widespread heuristic technique in many fields of engineering. In this paper, we apply PSO algorithm in additive white Gaussian noise (AWGN) and multipath...
A Robust Statistical Color Edge Detection for Noisy Images
Edge detection is a fundamental tool that plays a significant role in image processing, and performance of high-level tasks such as image segmentation and object recognition depends on its efficiency. Therefore, edge det...