探讨了TMA(目标运动分析)中基本的非线性估计问题,介绍了基于无味变换(Unscented Transform ation-UT)的无味卡尔曼滤波(Unscented Kalm an F iltering-UKF)算法的设计思想与具体实现,特别针对空对海单站只测方位与到达时间TMA(BTO-TMA...探讨了TMA(目标运动分析)中基本的非线性估计问题,介绍了基于无味变换(Unscented Transform ation-UT)的无味卡尔曼滤波(Unscented Kalm an F iltering-UKF)算法的设计思想与具体实现,特别针对空对海单站只测方位与到达时间TMA(BTO-TMA)问题应用UKF和EKF(扩展卡尔曼滤波)进行了对照研究,建立了问题的离散非线性滤波估计模型,设计了典型的应用场景,给出了初值有偏和无偏两种情形下的Monte Carlo仿真运行结果;表明UKF在该应用背景下是切实可行的,具有更高的估计精度和更强的收敛特性。展开更多
An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasen...An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasenic sensors are more cost-effective than other sensors such as Laser Range Finder （LRF） and vision, but they are inaccurate and directionally ambiguons. First, the matched filter is used to measure the distance accurately. For resolving the computational complexity of the matched filter, a new matched filter algorithm with simple compution is proposed. Then, an ultrasonic localization system is proposed which consists of three ultrasonic receivers and two or mote transmitters for improving position and orientation accuracy was developed. Finally, an extended Kalman filter is designed to estimate both the static and dynamic positions and orientations. Various simu lations and experimental results show that the proposed system is effective.展开更多
A generic design model for evolutionary algorithms is proposed in this paper. The model, which was described by UML in details, focuses on the key concepts and mechanisms in evolutionary algorithms. The model not only...A generic design model for evolutionary algorithms is proposed in this paper. The model, which was described by UML in details, focuses on the key concepts and mechanisms in evolutionary algorithms. The model not only achieves separation of concerns and encapsulation of implementations by classification and abstraction of those concepts, it also has a flexible architecture due to the application of design patterns. As a result, the model is reusable, extendible, easy to understand, easy to use, and easy to test. A large number of experiments applying the model to solve many different problems adequately illustrate the generality and effec-tivity of the model.展开更多
文摘探讨了TMA(目标运动分析)中基本的非线性估计问题,介绍了基于无味变换(Unscented Transform ation-UT)的无味卡尔曼滤波(Unscented Kalm an F iltering-UKF)算法的设计思想与具体实现,特别针对空对海单站只测方位与到达时间TMA(BTO-TMA)问题应用UKF和EKF(扩展卡尔曼滤波)进行了对照研究,建立了问题的离散非线性滤波估计模型,设计了典型的应用场景,给出了初值有偏和无偏两种情形下的Monte Carlo仿真运行结果;表明UKF在该应用背景下是切实可行的,具有更高的估计精度和更强的收敛特性。
基金supported by the MKE(The Ministry of Knowledge Economy,Korea)the ITRC(Information Technology Research Center)support program(ⅡTA-2009-(C1090-0902-0007))
文摘An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasenic sensors are more cost-effective than other sensors such as Laser Range Finder （LRF） and vision, but they are inaccurate and directionally ambiguons. First, the matched filter is used to measure the distance accurately. For resolving the computational complexity of the matched filter, a new matched filter algorithm with simple compution is proposed. Then, an ultrasonic localization system is proposed which consists of three ultrasonic receivers and two or mote transmitters for improving position and orientation accuracy was developed. Finally, an extended Kalman filter is designed to estimate both the static and dynamic positions and orientations. Various simu lations and experimental results show that the proposed system is effective.
基金Supported by the National Natural Science Foundation of China(70071042,60073043,60133010)
文摘A generic design model for evolutionary algorithms is proposed in this paper. The model, which was described by UML in details, focuses on the key concepts and mechanisms in evolutionary algorithms. The model not only achieves separation of concerns and encapsulation of implementations by classification and abstraction of those concepts, it also has a flexible architecture due to the application of design patterns. As a result, the model is reusable, extendible, easy to understand, easy to use, and easy to test. A large number of experiments applying the model to solve many different problems adequately illustrate the generality and effec-tivity of the model.
