In this paper,an advanced satellite navigation filter design,referred to as the Variational Bayesian Maximum Correntropy Extended Kalman Filter(VBMCEKF),is introduced to enhance robustness and adaptability in scenario...In this paper,an advanced satellite navigation filter design,referred to as the Variational Bayesian Maximum Correntropy Extended Kalman Filter(VBMCEKF),is introduced to enhance robustness and adaptability in scenarios with non-Gaussian noise and heavy-tailed outliers.The proposed design modifies the extended Kalman filter(EKF)for the global navigation satellite system(GNSS),integrating the maximum correntropy criterion(MCC)and the variational Bayesian(VB)method.This adaptive algorithm effectively reduces non-line-of-sight(NLOS)reception contamination and improves estimation accuracy,particularly in time-varying GNSS measurements.Experimental results show that the proposed method significantly outperforms conventional approaches in estimation accuracy under heavy-tailed outliers and non-Gaussian noise.By combining MCC with VB approximation for real-time noise covariance estimation using fixed-point iteration,the VBMCEKF achieves superior filtering performance in challenging GNSS conditions.The method’s adaptability and precision make it ideal for improving satellite navigation performance in stochastic environments.展开更多
The MohroCoulomb criterion has been widely used to explain formation of fractures. However, it fails to explain large strain deformation that widely occurs in nature. There is presently a new theory, the MEMC, which i...The MohroCoulomb criterion has been widely used to explain formation of fractures. However, it fails to explain large strain deformation that widely occurs in nature. There is presently a new theory, the MEMC, which is mathematically expressed as Meff = （（σ1-σ3） L.sin 2α sin α）/2, where σ1-σ3 represents the yield strength of the related rock, L is a unit length and a is the angle between σ1 and deformation bands. This criterion demonstrates that the maximum value appears at angles of ±54.7° to σ1 and there is a slight difference in the moment in the range of 55°±10°. The range covers the whole observations available from nature and experiments. Its major implications include： （1） it can be used to determine the stress state when the related deformation features formed; （2） it provides a new approach to determine the Wk of the related ductile shear zone if only the ratio of the vorticity and strain rate remains fixed; （3） It can be used to explain （a） the obtuse angle in the contraction direction of conjugate kink-bands and extensional crenulation cleavages, （b） formation of low-angle normal faults and high-angle reverse faults, （c） lozenge ductile shear zones in basement terranes, （d） some crocodile structures in seismic profiles and （e） detachment folds in foreland basins.展开更多
In this paper, we consider the numerical treatment of an inverse acoustic scattering problem that involves an impenetrable obstacle embedded in a layered medium. We begin by employing a modified version of the well kn...In this paper, we consider the numerical treatment of an inverse acoustic scattering problem that involves an impenetrable obstacle embedded in a layered medium. We begin by employing a modified version of the well known <em>factorization method</em>, in which a computationally effective numerical scheme for the reconstruction of the shape of the scatterer is presented. This is possible, due to a <em>mixed reciprocity principle</em>, which renders the computation of the Green function at the background medium unnecessary. Moreover, to further refine our inversion algorithm, an efficient Tikhonov parameter choice technique, called <em>Improved Maximum Product Criterion</em> (IMPC) is exploited. Our regularization parameter is computed via a fast iterative algorithm which requires no <em>a priori</em> knowledge of the noise level in the far-field data. Finally, the effectiveness of IMPC is illustrated with various numerical examples.展开更多
A new approach for predicting forming limit curves(FLCs)at elevated temperatures was proposed herein.FLCs are often used to predict failure and determine the optimal forming parameters of automotive parts.First,a grap...A new approach for predicting forming limit curves(FLCs)at elevated temperatures was proposed herein.FLCs are often used to predict failure and determine the optimal forming parameters of automotive parts.First,a graphical method based on a modified maximum force criterion was applied to estimate the FLCs of 22MnB5 boron steel sheets at room temperature using various hardening laws.Subsequently,the predicted FLC data at room temperature were compared with corresponding data obtained from Nakazima's tests to obtain the best prediction.To estimate the FLC at elevated temperatures,tensile tests were conducted at various temperatures to determine the ratios of equivalent fracture strains between the corresponding elevated temperatures and room temperature.FLCs at elevated temperatures could be established based on obtained ratios.However,the predicted FLCs at elevated temperatures did not agree well with the corresponding FLC experimental data of Zhou et al.A new method was proposed herein to improve the prediction of FLCs at elevated temperatures.An FLC calculated at room tem-perature was utilized to predict the failure of Nakazima's samples via finite element simulation.Based on the simulation results at room temperature,the mathematical relationships between the equivalent ductile fracture strain versus stress triaxiality and strain ratio were established and then combined with ratios between elevated and room temperatures to calculate the FLCs at different temperatures.The predicted FLCs at elevated temperatures agree well with the corresponding experimental FLC data.展开更多
Indoor positioning is a key technology in today’s intelligent environments,and it plays a crucial role in many application areas.This paper proposed an unscented Kalman filter(UKF)based on the maximum correntropy cri...Indoor positioning is a key technology in today’s intelligent environments,and it plays a crucial role in many application areas.This paper proposed an unscented Kalman filter(UKF)based on the maximum correntropy criterion(MCC)instead of the minimummean square error criterion(MMSE).This innovative approach is applied to the loose coupling of the Inertial Navigation System(INS)and Ultra-Wideband(UWB).By introducing the maximum correntropy criterion,the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise,thus enhancing its adaptability to diverse environmental localization requirements.Particularly in the presence of non-Gaussian noise,especially heavy-tailed noise,the MCCUKF exhibits superior accuracy and robustness compared to the traditional UKF.The method initially generates an estimate of the predicted state and covariance matrix through the unscented transform(UT)and then recharacterizes the measurement information using a nonlinear regression method at the cost of theMCC.Subsequently,the state and covariance matrices of the filter are updated by employing the unscented transformation on the measurement equations.Moreover,to mitigate the influence of non-line-of-sight(NLOS)errors positioning accuracy,this paper proposes a k-medoid clustering algorithm based on bisection k-means(Bikmeans).This algorithm preprocesses the UWB distance measurements to yield a more precise position estimation.Simulation results demonstrate that MCCUKF is robust to the uncertainty of UWB and realizes stable integration of INS and UWB systems.展开更多
The extended Kalman filter(EKF)is extensively applied in integrated navigation systems that combine the global navigation satellite system(GNSS)and strap-down inertial navigation system(SINS).However,the performance o...The extended Kalman filter(EKF)is extensively applied in integrated navigation systems that combine the global navigation satellite system(GNSS)and strap-down inertial navigation system(SINS).However,the performance of the EKF can be severely impacted by non-Gaussian noise and measurement noise uncertainties,making it difficult to achieve optimal GNSS/INS integration.Dealing with non-Gaussian noise remains a significant challenge in filter development today.Therefore,the maximum correntropy criterion(MCC)is utilized in EKFs to manage heavytailed measurement noise.However,its capability to handle non-Gaussian process noise and unknown disturbances remains largely unexplored.In this paper,we extend correntropy from using a single kernel to a multi-kernel approach.This leads to the development of a multi-kernel maximum correntropy extended Kalman filter(MKMC-EKF),which is designed to effectively manage multivariate non-Gaussian noise and disturbances.Further,theoretical analysis,including advanced stability proofs,can enhance understanding,while hybrid approaches integrating MKMC-EKF with particle filters may improve performance in nonlinear systems.The MKMC-EKF enhances estimation accuracy using a multi-kernel bandwidth approach.As bandwidth increases,the filter’s sensitivity to non-Gaussian features decreases,and its behavior progressively approximates that of the iterated EKF.The proposed approach for enhancing positioning in navigation is validated through performance evaluations,which demonstrate its practical applications in real-world systems like GPS navigation and measuring radar targets.展开更多
Marine environmental design parameter extrapolation has important applications in marine engineering and coastal disaster prevention.The distribution models used for environmental design parameter usually pass the hyp...Marine environmental design parameter extrapolation has important applications in marine engineering and coastal disaster prevention.The distribution models used for environmental design parameter usually pass the hypothesis tests in statistical analysis,but the calculation results of different distribution models often vary largely.In this paper,based on the information entropy,the overall uncertainty test criteria were studied for commonly used distributions including Gumbel,Weibull,and Pearson-III distribution.An improved method for parameter estimation of the maximum entropy distribution model is proposed on the basis of moment estimation.The study in this paper shows that the number of sample data and the degree of dispersion are proportional to the information entropy,and the overall uncertainty of the maximum entropy distribution model is minimal compared with other models.展开更多
This paper tackles the maximum correntropy Kalman filtering problem for discrete time-varying non-Gaussian systems subject to state saturations and stochastic nonlinearities.The stochastic nonlinearities,which take th...This paper tackles the maximum correntropy Kalman filtering problem for discrete time-varying non-Gaussian systems subject to state saturations and stochastic nonlinearities.The stochastic nonlinearities,which take the form of statemultiplicative noises,are introduced in systems to describe the phenomenon of nonlinear disturbances.To resist non-Gaussian noises,we consider a new performance index called maximum correntropy criterion(MCC)which describes the similarity between two stochastic variables.To enhance the“robustness”of the kernel parameter selection on the resultant filtering performance,the Cauchy kernel function is adopted to calculate the corresponding correntropy.The goal of this paper is to design a Kalman-type filter for the underlying systems via maximizing the correntropy between the system state and its estimate.By taking advantage of an upper bound on the one-step prediction error covariance,a modified MCC-based performance index is constructed.Subsequently,with the assistance of a fixed-point theorem,the filter gain is obtained by maximizing the proposed cost function.In addition,a sufficient condition is deduced to ensure the uniqueness of the fixed point.Finally,the validity of the filtering method is tested by simulating a numerical example.展开更多
In the missile-borne Strapdown Inertial Navigation System/Global Navigation Satellite System(SINS/GNSS)integrated navigation system,due to the factors such as the high dynamics,the signal blocking by obstacles,the sig...In the missile-borne Strapdown Inertial Navigation System/Global Navigation Satellite System(SINS/GNSS)integrated navigation system,due to the factors such as the high dynamics,the signal blocking by obstacles,the signal intefereces,etc.,there always exist pulse interferences or measurement information interruptions in the satellite receiver,which make nonstationary measurement process.The traditional Kalman Filter(KF)can tackle the state estimation problem under Gaussian white noise,but its performance will be significantly reduced under nonGaussian noises.In order to deal with the non-Gaussian conditions in the actual missile-borne SINS/GNSS integrated navigation systems,a Maximum Versoria Criterion Extended Kalman Filter(MVC-EKF)algorithm is proposed based on the MVC and the idea of M-estimation,which assigns a smaller weight to the anomalous measurements so as to suppress the influence of anomalous measurements on the state estimation while maintaining a relatively low calculation cost.Finally,the integrated navigation simulation experiments prove the effectiveness and robustness of the proposed algorithm.展开更多
This article addresses the nonlinear state estimation problem where the conventional Gaussian assumption is completely relaxed.Here,the uncertainties in process and measurements are assumed non-Gaussian,such that the ...This article addresses the nonlinear state estimation problem where the conventional Gaussian assumption is completely relaxed.Here,the uncertainties in process and measurements are assumed non-Gaussian,such that the maximum correntropy criterion(MCC)is chosen to replace the conventional minimum mean square error criterion.Furthermore,the MCC is realized using Gaussian as well as Cauchy kernels by defining an appropriate cost function.Simulation results demonstrate the superior estimation accuracy of the developed estimators for two nonlinear estimation problems.展开更多
This paper proposes a new approach for solving the bearings-only target tracking (BoT) problem by introducing a maximum correntropy criterion to the pseudolinear Kalman filter (PLKF). PLKF has been a popular choice fo...This paper proposes a new approach for solving the bearings-only target tracking (BoT) problem by introducing a maximum correntropy criterion to the pseudolinear Kalman filter (PLKF). PLKF has been a popular choice for solving BoT problems owing to the reduced computational complexity. However, the coupling between the measurement vector and pseudolinear noise causes bias in PLKF. To address this issue, a bias-compensated PLKF (BC-PLKF) under the assumption of Gaussian noise was formulated. However, this assumption may not be valid in most practical cases. Therefore, a bias-compensated PLKF with maximum correntropy criterion is introduced, resulting in two new filters: maximum correntropy pseudolinear Kalman filter (MC-PLKF) and maximum correntropy bias-compensated pseudolinear Kalman filter (MC-BC-PLKF). To demonstrate the performance of the proposed estimators, a comparative analysis assuming large outliers in the process and measurement model of 2D BoT is conducted. These large outliers are modeled as non-Gaussian noises with diverse noise distributions that combine Gaussian and Laplacian noises. The simulation results are validated using root mean square error (RMSE), average RMSE (ARMSE), percentage of track loss and bias norm. Compared to PLKF and BC-PLKF, all the proposed maximum correntropy-based filters (MC-PLKF and MC-BC-PLKF) performed with superior estimation accuracy.展开更多
A large number of criteria has been developed to predict material instabilities, but their choice is limited by the lack of existing comparison of their theoretical basis and application domains. To overcome this limi...A large number of criteria has been developed to predict material instabilities, but their choice is limited by the lack of existing comparison of their theoretical basis and application domains. To overcome this limitation, a theoretical and numerical comparison of two major models used to predict diffuse necking is present in this paper. Limit Point Bifurcation criterion is first introduced. An original formulation of the Maximum Force Criterion (MFC), taking into account the effects of damage and isotropic and kinematic hardenings, is then proposed. Strong connections are shown between them by comparing their theoretical basis. Numerical Forming Limit Diagrams at diffuse necking obtained with these criteria for different metallic materials are given. They illustrate the theoretical link and similar predictions are shown for both models.展开更多
This paper introduces a simple combining technique for cooperative relay scheme which is based on a Detect-and-Forward (DEF) relay protocol. Cooperative relay schemes have been introduced in earlier works but most of ...This paper introduces a simple combining technique for cooperative relay scheme which is based on a Detect-and-Forward (DEF) relay protocol. Cooperative relay schemes have been introduced in earlier works but most of them ignore the quality of the source-relay (S-R) channel in the detection at the destination, although this channel can contribute heavily to the performance of cooperation schemes. For optimal detection, the destination has to account all possible error events at the relay as well. Here we present a Maximum Likelihood criterion (ML) at the destination which considers closed-form expressions for each symbol error rate (SER) to facilitate the detection. Computer simulations show that significant diversity gain and Packet Error Rate (PER) performance can be achieved by the proposed scheme with good tolerance to propagation errors from noisy relays. In fact, diversity gain is increased with additional relay nodes. We compare this scheme against the baseline Cooperative-Maximum Ratio Combining (C-MRC).展开更多
基金supported by the National Science and Technology Council,Taiwan under grants NSTC 111-2221-E-019-047 and NSTC 112-2221-E-019-030.
文摘In this paper,an advanced satellite navigation filter design,referred to as the Variational Bayesian Maximum Correntropy Extended Kalman Filter(VBMCEKF),is introduced to enhance robustness and adaptability in scenarios with non-Gaussian noise and heavy-tailed outliers.The proposed design modifies the extended Kalman filter(EKF)for the global navigation satellite system(GNSS),integrating the maximum correntropy criterion(MCC)and the variational Bayesian(VB)method.This adaptive algorithm effectively reduces non-line-of-sight(NLOS)reception contamination and improves estimation accuracy,particularly in time-varying GNSS measurements.Experimental results show that the proposed method significantly outperforms conventional approaches in estimation accuracy under heavy-tailed outliers and non-Gaussian noise.By combining MCC with VB approximation for real-time noise covariance estimation using fixed-point iteration,the VBMCEKF achieves superior filtering performance in challenging GNSS conditions.The method’s adaptability and precision make it ideal for improving satellite navigation performance in stochastic environments.
基金This work is financed by the grants of the National Natural Science Foundation of China （Grant No 40272084, 40472101 and 40572123）.
文摘The MohroCoulomb criterion has been widely used to explain formation of fractures. However, it fails to explain large strain deformation that widely occurs in nature. There is presently a new theory, the MEMC, which is mathematically expressed as Meff = （（σ1-σ3） L.sin 2α sin α）/2, where σ1-σ3 represents the yield strength of the related rock, L is a unit length and a is the angle between σ1 and deformation bands. This criterion demonstrates that the maximum value appears at angles of ±54.7° to σ1 and there is a slight difference in the moment in the range of 55°±10°. The range covers the whole observations available from nature and experiments. Its major implications include： （1） it can be used to determine the stress state when the related deformation features formed; （2） it provides a new approach to determine the Wk of the related ductile shear zone if only the ratio of the vorticity and strain rate remains fixed; （3） It can be used to explain （a） the obtuse angle in the contraction direction of conjugate kink-bands and extensional crenulation cleavages, （b） formation of low-angle normal faults and high-angle reverse faults, （c） lozenge ductile shear zones in basement terranes, （d） some crocodile structures in seismic profiles and （e） detachment folds in foreland basins.
文摘In this paper, we consider the numerical treatment of an inverse acoustic scattering problem that involves an impenetrable obstacle embedded in a layered medium. We begin by employing a modified version of the well known <em>factorization method</em>, in which a computationally effective numerical scheme for the reconstruction of the shape of the scatterer is presented. This is possible, due to a <em>mixed reciprocity principle</em>, which renders the computation of the Green function at the background medium unnecessary. Moreover, to further refine our inversion algorithm, an efficient Tikhonov parameter choice technique, called <em>Improved Maximum Product Criterion</em> (IMPC) is exploited. Our regularization parameter is computed via a fast iterative algorithm which requires no <em>a priori</em> knowledge of the noise level in the far-field data. Finally, the effectiveness of IMPC is illustrated with various numerical examples.
基金funded by Vietnam National Foundation for Science and Technology Development(NAFOSTED)under Grant Number 107.02-2019.300.
文摘A new approach for predicting forming limit curves(FLCs)at elevated temperatures was proposed herein.FLCs are often used to predict failure and determine the optimal forming parameters of automotive parts.First,a graphical method based on a modified maximum force criterion was applied to estimate the FLCs of 22MnB5 boron steel sheets at room temperature using various hardening laws.Subsequently,the predicted FLC data at room temperature were compared with corresponding data obtained from Nakazima's tests to obtain the best prediction.To estimate the FLC at elevated temperatures,tensile tests were conducted at various temperatures to determine the ratios of equivalent fracture strains between the corresponding elevated temperatures and room temperature.FLCs at elevated temperatures could be established based on obtained ratios.However,the predicted FLCs at elevated temperatures did not agree well with the corresponding FLC experimental data of Zhou et al.A new method was proposed herein to improve the prediction of FLCs at elevated temperatures.An FLC calculated at room tem-perature was utilized to predict the failure of Nakazima's samples via finite element simulation.Based on the simulation results at room temperature,the mathematical relationships between the equivalent ductile fracture strain versus stress triaxiality and strain ratio were established and then combined with ratios between elevated and room temperatures to calculate the FLCs at different temperatures.The predicted FLCs at elevated temperatures agree well with the corresponding experimental FLC data.
基金supported by the National Natural Science Foundation of China under Grant Nos.62273083 and 61803077Natural Science Foundation of Hebei Province under Grant No.F2020501012.
文摘Indoor positioning is a key technology in today’s intelligent environments,and it plays a crucial role in many application areas.This paper proposed an unscented Kalman filter(UKF)based on the maximum correntropy criterion(MCC)instead of the minimummean square error criterion(MMSE).This innovative approach is applied to the loose coupling of the Inertial Navigation System(INS)and Ultra-Wideband(UWB).By introducing the maximum correntropy criterion,the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise,thus enhancing its adaptability to diverse environmental localization requirements.Particularly in the presence of non-Gaussian noise,especially heavy-tailed noise,the MCCUKF exhibits superior accuracy and robustness compared to the traditional UKF.The method initially generates an estimate of the predicted state and covariance matrix through the unscented transform(UT)and then recharacterizes the measurement information using a nonlinear regression method at the cost of theMCC.Subsequently,the state and covariance matrices of the filter are updated by employing the unscented transformation on the measurement equations.Moreover,to mitigate the influence of non-line-of-sight(NLOS)errors positioning accuracy,this paper proposes a k-medoid clustering algorithm based on bisection k-means(Bikmeans).This algorithm preprocesses the UWB distance measurements to yield a more precise position estimation.Simulation results demonstrate that MCCUKF is robust to the uncertainty of UWB and realizes stable integration of INS and UWB systems.
基金the support from National Science and Technology Council,Taiwan under grant numbers NSTC 113-2811-E-019-001 and NSTC 113-2221-E-019-059.
文摘The extended Kalman filter(EKF)is extensively applied in integrated navigation systems that combine the global navigation satellite system(GNSS)and strap-down inertial navigation system(SINS).However,the performance of the EKF can be severely impacted by non-Gaussian noise and measurement noise uncertainties,making it difficult to achieve optimal GNSS/INS integration.Dealing with non-Gaussian noise remains a significant challenge in filter development today.Therefore,the maximum correntropy criterion(MCC)is utilized in EKFs to manage heavytailed measurement noise.However,its capability to handle non-Gaussian process noise and unknown disturbances remains largely unexplored.In this paper,we extend correntropy from using a single kernel to a multi-kernel approach.This leads to the development of a multi-kernel maximum correntropy extended Kalman filter(MKMC-EKF),which is designed to effectively manage multivariate non-Gaussian noise and disturbances.Further,theoretical analysis,including advanced stability proofs,can enhance understanding,while hybrid approaches integrating MKMC-EKF with particle filters may improve performance in nonlinear systems.The MKMC-EKF enhances estimation accuracy using a multi-kernel bandwidth approach.As bandwidth increases,the filter’s sensitivity to non-Gaussian features decreases,and its behavior progressively approximates that of the iterated EKF.The proposed approach for enhancing positioning in navigation is validated through performance evaluations,which demonstrate its practical applications in real-world systems like GPS navigation and measuring radar targets.
基金This research was financially supported by the National Natural Science Foundation of China(Grant Nos.52071306 and 51379195)the Natural Science Foundation of Shandong Province(Grant No.ZR2019MEE050).
文摘Marine environmental design parameter extrapolation has important applications in marine engineering and coastal disaster prevention.The distribution models used for environmental design parameter usually pass the hypothesis tests in statistical analysis,but the calculation results of different distribution models often vary largely.In this paper,based on the information entropy,the overall uncertainty test criteria were studied for commonly used distributions including Gumbel,Weibull,and Pearson-III distribution.An improved method for parameter estimation of the maximum entropy distribution model is proposed on the basis of moment estimation.The study in this paper shows that the number of sample data and the degree of dispersion are proportional to the information entropy,and the overall uncertainty of the maximum entropy distribution model is minimal compared with other models.
基金supported in part by the National Natural Science Foundation of China(62273088,62273087)the Shanghai Pujiang Program of China(22PJ1400400)the Program of Shanghai Academic/Technology Research Leader(20XD1420100)。
文摘This paper tackles the maximum correntropy Kalman filtering problem for discrete time-varying non-Gaussian systems subject to state saturations and stochastic nonlinearities.The stochastic nonlinearities,which take the form of statemultiplicative noises,are introduced in systems to describe the phenomenon of nonlinear disturbances.To resist non-Gaussian noises,we consider a new performance index called maximum correntropy criterion(MCC)which describes the similarity between two stochastic variables.To enhance the“robustness”of the kernel parameter selection on the resultant filtering performance,the Cauchy kernel function is adopted to calculate the corresponding correntropy.The goal of this paper is to design a Kalman-type filter for the underlying systems via maximizing the correntropy between the system state and its estimate.By taking advantage of an upper bound on the one-step prediction error covariance,a modified MCC-based performance index is constructed.Subsequently,with the assistance of a fixed-point theorem,the filter gain is obtained by maximizing the proposed cost function.In addition,a sufficient condition is deduced to ensure the uniqueness of the fixed point.Finally,the validity of the filtering method is tested by simulating a numerical example.
基金co-supported by the National Natural Science Foundation of China(No.62073264)the Key Research and Development Project of Shaanxi Province,China(No.2021ZDLGY01-01 and 2020ZDLGY06-02)+2 种基金National Natural Science Foundation of China(No.61803309)China Postdoctoral Science Foundation(No.2018M633574)the Aeronautical Science Foundation of China(No.2019ZA053008)。
文摘In the missile-borne Strapdown Inertial Navigation System/Global Navigation Satellite System(SINS/GNSS)integrated navigation system,due to the factors such as the high dynamics,the signal blocking by obstacles,the signal intefereces,etc.,there always exist pulse interferences or measurement information interruptions in the satellite receiver,which make nonstationary measurement process.The traditional Kalman Filter(KF)can tackle the state estimation problem under Gaussian white noise,but its performance will be significantly reduced under nonGaussian noises.In order to deal with the non-Gaussian conditions in the actual missile-borne SINS/GNSS integrated navigation systems,a Maximum Versoria Criterion Extended Kalman Filter(MVC-EKF)algorithm is proposed based on the MVC and the idea of M-estimation,which assigns a smaller weight to the anomalous measurements so as to suppress the influence of anomalous measurements on the state estimation while maintaining a relatively low calculation cost.Finally,the integrated navigation simulation experiments prove the effectiveness and robustness of the proposed algorithm.
基金Rahul Radhakrishnan received the B.Tech.degree in Applied Electronics and Instrumentation from the Government Engineering College,Calicut,India,in 2010 and the M.Tech.degreein Control Systems from the Department of Electrical Engineering,National Institute of Technology Kurukshetra,India,in 2013.He received the Ph.D.degree from the Department of Electrical Engineering,Indian Institute of Technology Patna,India,in 2018.Currently,he is workingasan Assistant Professor in the Department of Electrical Engineering,Sardar Vallabhbhai National Institute of Technology,Surat,Gujarat,India.His main research interests include nonlinear filtering,aerospace,and underwater target tracking.
文摘This article addresses the nonlinear state estimation problem where the conventional Gaussian assumption is completely relaxed.Here,the uncertainties in process and measurements are assumed non-Gaussian,such that the maximum correntropy criterion(MCC)is chosen to replace the conventional minimum mean square error criterion.Furthermore,the MCC is realized using Gaussian as well as Cauchy kernels by defining an appropriate cost function.Simulation results demonstrate the superior estimation accuracy of the developed estimators for two nonlinear estimation problems.
文摘This paper proposes a new approach for solving the bearings-only target tracking (BoT) problem by introducing a maximum correntropy criterion to the pseudolinear Kalman filter (PLKF). PLKF has been a popular choice for solving BoT problems owing to the reduced computational complexity. However, the coupling between the measurement vector and pseudolinear noise causes bias in PLKF. To address this issue, a bias-compensated PLKF (BC-PLKF) under the assumption of Gaussian noise was formulated. However, this assumption may not be valid in most practical cases. Therefore, a bias-compensated PLKF with maximum correntropy criterion is introduced, resulting in two new filters: maximum correntropy pseudolinear Kalman filter (MC-PLKF) and maximum correntropy bias-compensated pseudolinear Kalman filter (MC-BC-PLKF). To demonstrate the performance of the proposed estimators, a comparative analysis assuming large outliers in the process and measurement model of 2D BoT is conducted. These large outliers are modeled as non-Gaussian noises with diverse noise distributions that combine Gaussian and Laplacian noises. The simulation results are validated using root mean square error (RMSE), average RMSE (ARMSE), percentage of track loss and bias norm. Compared to PLKF and BC-PLKF, all the proposed maximum correntropy-based filters (MC-PLKF and MC-BC-PLKF) performed with superior estimation accuracy.
文摘A large number of criteria has been developed to predict material instabilities, but their choice is limited by the lack of existing comparison of their theoretical basis and application domains. To overcome this limitation, a theoretical and numerical comparison of two major models used to predict diffuse necking is present in this paper. Limit Point Bifurcation criterion is first introduced. An original formulation of the Maximum Force Criterion (MFC), taking into account the effects of damage and isotropic and kinematic hardenings, is then proposed. Strong connections are shown between them by comparing their theoretical basis. Numerical Forming Limit Diagrams at diffuse necking obtained with these criteria for different metallic materials are given. They illustrate the theoretical link and similar predictions are shown for both models.
文摘This paper introduces a simple combining technique for cooperative relay scheme which is based on a Detect-and-Forward (DEF) relay protocol. Cooperative relay schemes have been introduced in earlier works but most of them ignore the quality of the source-relay (S-R) channel in the detection at the destination, although this channel can contribute heavily to the performance of cooperation schemes. For optimal detection, the destination has to account all possible error events at the relay as well. Here we present a Maximum Likelihood criterion (ML) at the destination which considers closed-form expressions for each symbol error rate (SER) to facilitate the detection. Computer simulations show that significant diversity gain and Packet Error Rate (PER) performance can be achieved by the proposed scheme with good tolerance to propagation errors from noisy relays. In fact, diversity gain is increased with additional relay nodes. We compare this scheme against the baseline Cooperative-Maximum Ratio Combining (C-MRC).
