This paper deals with the problem of designing robust sequential covariance intersection(SCI)fusion Kalman filter for the clustering multi-agent sensor network system with measurement delays and uncertain noise varian...This paper deals with the problem of designing robust sequential covariance intersection(SCI)fusion Kalman filter for the clustering multi-agent sensor network system with measurement delays and uncertain noise variances.The sensor network is partitioned into clusters by the nearest neighbor rule.Using the minimax robust estimation principle,based on the worst-case conservative sensor network system with conservative upper bounds of noise variances,and applying the unbiased linear minimum variance(ULMV)optimal estimation rule,we present the two-layer SCI fusion robust steady-state Kalman filter which can reduce communication and computation burdens and save energy sources,and guarantee that the actual filtering error variances have a less-conservative upper-bound.A Lyapunov equation method for robustness analysis is proposed,by which the robustness of the local and fused Kalman filters is proved.The concept of the robust accuracy is presented and the robust accuracy relations of the local and fused robust Kalman filters are proved.It is proved that the robust accuracy of the global SCI fuser is higher than those of the local SCI fusers and the robust accuracies of all SCI fusers are higher than that of each local robust Kalman filter.A simulation example for a tracking system verifies the robustness and robust accuracy relations.展开更多
In this paper, the problem of cubature Kalman fusion filtering(CKFF) is addressed for multi-sensor systems under amplify-and-forward(AaF) relays. For the purpose of facilitating data transmission, AaF relays are utili...In this paper, the problem of cubature Kalman fusion filtering(CKFF) is addressed for multi-sensor systems under amplify-and-forward(AaF) relays. For the purpose of facilitating data transmission, AaF relays are utilized to regulate signal communication between sensors and filters. Here, the randomly varying channel parameters are represented by a set of stochastic variables whose occurring probabilities are permitted to exhibit bounded uncertainty. Employing the spherical-radial cubature principle, a local filter under AaF relays is initially constructed. This construction ensures and minimizes an upper bound of the filtering error covariance by designing an appropriate filter gain. Subsequently, the local filters are fused through the application of the covariance intersection fusion rule. Furthermore, the uniform boundedness of the filtering error covariance's upper bound is investigated through establishing certain sufficient conditions. The effectiveness of the proposed CKFF scheme is ultimately validated via a simulation experiment concentrating on a three-phase induction machine.展开更多
In this paper,an unsupervised change detection technique for remote sensing images acquired on the same geographical area but at different time instances is proposed by conducting Covariance Intersection(CI) to perfor...In this paper,an unsupervised change detection technique for remote sensing images acquired on the same geographical area but at different time instances is proposed by conducting Covariance Intersection(CI) to perform unsupervised fusion of the final fuzzy partition matrices from the Fuzzy C-Means(FCM) clustering for the feature space by applying compressed sampling to the given remote sensing images.The proposed approach exploits a CI-based data fusion of the membership function matrices,which are obtained by taking the Fuzzy C-Means(FCM) clustering of the frequency-domain feature vectors and spatial-domain feature vectors,aimed at enhancing the unsupervised change detection performance.Compressed sampling is performed to realize the image local feature sampling,which is a signal acquisition framework based on the revelation that a small collection of linear projections of a sparse signal contains enough information for stable recovery.The experimental results demonstrate that the proposed algorithm has a good change detection results and also performs quite well on denoising purpose.展开更多
This paper investigates the problem of decentralized multi-robot cooperative localization.This problem involves collaboratively estimating the poses of a group of robots with respect to a common reference coordinate s...This paper investigates the problem of decentralized multi-robot cooperative localization.This problem involves collaboratively estimating the poses of a group of robots with respect to a common reference coordinate system using robot-to-robot relative measurements and intermittent absolute measurements in a distributed manner.To address this problem,we present a decentralized fusion method that enables batch updating to handle relative measurements from multiple robots simultaneously.This method can improve both the accuracy and computational efficiency of cooperative localization.To reduce communication costs and reliance on connectivity,we do not maintain the inter-robot state correlations.Instead,we adopt a covariance intersection(CI)technique to design an upper bound that replaces unknown joint correlations.We propose an optimization method to determine a tight upper bound for the correlations in the joint update.The consistency and convergence of our proposed algorithm is theoretically analyzed.Furthermore,we conduct Monte Carlo numerical simulations and real-world experiments to demonstrate that the proposed method outperforms existing approaches in terms of both accuracy and consistency.展开更多
针对交通路口图像复杂,小目标难测且目标之间易遮挡以及天气和光照变化引发的颜色失真、噪声和模糊等问题,提出一种基于YOLOv9(You Only Look Once version 9)的交通路口图像的多目标检测算法ITD-YOLOv9(Intersection Target Detection-...针对交通路口图像复杂,小目标难测且目标之间易遮挡以及天气和光照变化引发的颜色失真、噪声和模糊等问题,提出一种基于YOLOv9(You Only Look Once version 9)的交通路口图像的多目标检测算法ITD-YOLOv9(Intersection Target Detection-YOLOv9)。首先,设计CoT-CAFRNet(Chain-of-Thought prompted Content-Aware Feature Reassembly Network)图像增强网络,以提升图像质量,并优化输入特征;其次,加入通道自适应特征融合(iCAFF)模块,以增强小目标及重叠遮挡目标的提取能力;再次,提出特征融合金字塔结构BiHS-FPN(Bi-directional High-level Screening Feature Pyramid Network),以增强多尺度特征的融合能力;最后,设计IF-MPDIoU(Inner-Focaler-Minimum Point Distance based Intersection over Union)损失函数,以通过调整变量因子,聚焦关键样本,并增强泛化能力。实验结果表明,在自制数据集和SODA10M数据集上,ITD-YOLOv9算法的检测精度分别为83.8%和56.3%,检测帧率分别为64.8 frame/s和57.4 frame/s。与YOLOv9算法相比,ITD-YOLOv9算法的检测精度分别提升了3.9和2.7个百分点。可见,所提算法有效实现了交通路口的多目标检测。展开更多
文章提出了一种新颖的理论框架,旨在应对信息物理系统(Cyber-Physical System,CPS)中多传感器鲁棒安全融合估计的挑战。在此类系统中,传感器测量值可能受到随机虚假数据注入(False Data Injection,FDI)攻击的干扰。此研究的目标是设计...文章提出了一种新颖的理论框架,旨在应对信息物理系统(Cyber-Physical System,CPS)中多传感器鲁棒安全融合估计的挑战。在此类系统中,传感器测量值可能受到随机虚假数据注入(False Data Injection,FDI)攻击的干扰。此研究的目标是设计一种鲁棒安全融合估计器,以最小化估计误差的方差。首先,设计了局部鲁棒估计器,确保在FDI攻击引起的参数不确定性下,局部估计误差协方差存在上界。其次,通过合理选择估计器参数,在每一时刻最小化该协方差上界;采用协方差交集融合策略对局部估计器的结果进行融合处理。最后,通过仿真实验验证了所提出融合估计方案的有效性。展开更多
基金Supported by National Natural Science Foundation of China(60874063)Innovation and Scientific Research Foundation of Graduate Student of Heilongjiang Province(YJSCX2012-263HLJ)
文摘This paper deals with the problem of designing robust sequential covariance intersection(SCI)fusion Kalman filter for the clustering multi-agent sensor network system with measurement delays and uncertain noise variances.The sensor network is partitioned into clusters by the nearest neighbor rule.Using the minimax robust estimation principle,based on the worst-case conservative sensor network system with conservative upper bounds of noise variances,and applying the unbiased linear minimum variance(ULMV)optimal estimation rule,we present the two-layer SCI fusion robust steady-state Kalman filter which can reduce communication and computation burdens and save energy sources,and guarantee that the actual filtering error variances have a less-conservative upper-bound.A Lyapunov equation method for robustness analysis is proposed,by which the robustness of the local and fused Kalman filters is proved.The concept of the robust accuracy is presented and the robust accuracy relations of the local and fused robust Kalman filters are proved.It is proved that the robust accuracy of the global SCI fuser is higher than those of the local SCI fusers and the robust accuracies of all SCI fusers are higher than that of each local robust Kalman filter.A simulation example for a tracking system verifies the robustness and robust accuracy relations.
基金supported in part by the National Natural Science Foundation of China(12171124,61933007)the Natural Science Foundation of Heilongjiang Province of China(ZD2022F003)+2 种基金the National High-End Foreign Experts Recruitment Plan of China(G2023012004L)the Royal Society of UKthe Alexander von Humboldt Foundation of Germany
文摘In this paper, the problem of cubature Kalman fusion filtering(CKFF) is addressed for multi-sensor systems under amplify-and-forward(AaF) relays. For the purpose of facilitating data transmission, AaF relays are utilized to regulate signal communication between sensors and filters. Here, the randomly varying channel parameters are represented by a set of stochastic variables whose occurring probabilities are permitted to exhibit bounded uncertainty. Employing the spherical-radial cubature principle, a local filter under AaF relays is initially constructed. This construction ensures and minimizes an upper bound of the filtering error covariance by designing an appropriate filter gain. Subsequently, the local filters are fused through the application of the covariance intersection fusion rule. Furthermore, the uniform boundedness of the filtering error covariance's upper bound is investigated through establishing certain sufficient conditions. The effectiveness of the proposed CKFF scheme is ultimately validated via a simulation experiment concentrating on a three-phase induction machine.
基金Supported by the National Natural Science Foundation of China(No.61071163)
文摘In this paper,an unsupervised change detection technique for remote sensing images acquired on the same geographical area but at different time instances is proposed by conducting Covariance Intersection(CI) to perform unsupervised fusion of the final fuzzy partition matrices from the Fuzzy C-Means(FCM) clustering for the feature space by applying compressed sampling to the given remote sensing images.The proposed approach exploits a CI-based data fusion of the membership function matrices,which are obtained by taking the Fuzzy C-Means(FCM) clustering of the frequency-domain feature vectors and spatial-domain feature vectors,aimed at enhancing the unsupervised change detection performance.Compressed sampling is performed to realize the image local feature sampling,which is a signal acquisition framework based on the revelation that a small collection of linear projections of a sparse signal contains enough information for stable recovery.The experimental results demonstrate that the proposed algorithm has a good change detection results and also performs quite well on denoising purpose.
文摘This paper investigates the problem of decentralized multi-robot cooperative localization.This problem involves collaboratively estimating the poses of a group of robots with respect to a common reference coordinate system using robot-to-robot relative measurements and intermittent absolute measurements in a distributed manner.To address this problem,we present a decentralized fusion method that enables batch updating to handle relative measurements from multiple robots simultaneously.This method can improve both the accuracy and computational efficiency of cooperative localization.To reduce communication costs and reliance on connectivity,we do not maintain the inter-robot state correlations.Instead,we adopt a covariance intersection(CI)technique to design an upper bound that replaces unknown joint correlations.We propose an optimization method to determine a tight upper bound for the correlations in the joint update.The consistency and convergence of our proposed algorithm is theoretically analyzed.Furthermore,we conduct Monte Carlo numerical simulations and real-world experiments to demonstrate that the proposed method outperforms existing approaches in terms of both accuracy and consistency.
文摘针对交通路口图像复杂,小目标难测且目标之间易遮挡以及天气和光照变化引发的颜色失真、噪声和模糊等问题,提出一种基于YOLOv9(You Only Look Once version 9)的交通路口图像的多目标检测算法ITD-YOLOv9(Intersection Target Detection-YOLOv9)。首先,设计CoT-CAFRNet(Chain-of-Thought prompted Content-Aware Feature Reassembly Network)图像增强网络,以提升图像质量,并优化输入特征;其次,加入通道自适应特征融合(iCAFF)模块,以增强小目标及重叠遮挡目标的提取能力;再次,提出特征融合金字塔结构BiHS-FPN(Bi-directional High-level Screening Feature Pyramid Network),以增强多尺度特征的融合能力;最后,设计IF-MPDIoU(Inner-Focaler-Minimum Point Distance based Intersection over Union)损失函数,以通过调整变量因子,聚焦关键样本,并增强泛化能力。实验结果表明,在自制数据集和SODA10M数据集上,ITD-YOLOv9算法的检测精度分别为83.8%和56.3%,检测帧率分别为64.8 frame/s和57.4 frame/s。与YOLOv9算法相比,ITD-YOLOv9算法的检测精度分别提升了3.9和2.7个百分点。可见,所提算法有效实现了交通路口的多目标检测。
文摘文章提出了一种新颖的理论框架,旨在应对信息物理系统(Cyber-Physical System,CPS)中多传感器鲁棒安全融合估计的挑战。在此类系统中,传感器测量值可能受到随机虚假数据注入(False Data Injection,FDI)攻击的干扰。此研究的目标是设计一种鲁棒安全融合估计器,以最小化估计误差的方差。首先,设计了局部鲁棒估计器,确保在FDI攻击引起的参数不确定性下,局部估计误差协方差存在上界。其次,通过合理选择估计器参数,在每一时刻最小化该协方差上界;采用协方差交集融合策略对局部估计器的结果进行融合处理。最后,通过仿真实验验证了所提出融合估计方案的有效性。
