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Three-Wheeled Omnidirectional Robot Localization in RFID-Tag Environments using UFIR Filtering

Jorge A. Ortega-Contreras, Yuriy S. Shmaliy, Jose A. Andrade-Lucio
2021 WSEAS Transactions on Signal Processing  
To increase the localization accuracy, the Kalman filter (KF) and unbiased finite impulse response (UFIR) modified for CMN are used.  ...  A measurement system measures distances from the tags to the robot with in the presence of the firstorder Markov-Gauss colored measurement noise (CMN) and is combined with a digital gyroscope to measure  ...  Another solutions were found by Shmaliy et al. to deal with the colored process noise using state differencing [23] , Zhou et al. by using the second moment of information [24] , and Ding et al. by applying  ... 
doi:10.37394/232014.2021.17.2 fatcat:wry57xgxibgnbb7qjonkzllfzq

Estimation efficiency and statistical power in arterial spin labeling fMRI

Jeanette A. Mumford, Luis Hernandez-Garcia, Gregory R. Lee, Thomas E. Nichols
2006 NeuroImage  
While this process can reduce the number of time points by half, it simplifies the subsequent signal and noise models (i.e., smoothed boxcar predictors and white noise).  ...  While the models using differenced data may seem easier to implement, we show that differencing models fit with ordinary least squares either produce biased estimates of the standard errors or suffer from  ...  Acknowledgments This work is supported by NIH grants R01 DA15410 and R01 EB004346-01A1.  ... 
doi:10.1016/j.neuroimage.2006.05.040 pmid:16860577 pmcid:PMC2772871 fatcat:s2xpx6l6hnb77iskglseh34hii

Kalman and UFIR State Estimation with Colored Measurement Noise using Backward Euler Method

Yuriy Shmaliy, Shunyi Zhao, Choon Ki Ahn
2019 IET Signal Processing  
In this study, the authors modify the KF and unbiased finite impulse response (UFIR) filter using the backward Euler (BE) method for models with coloured measurement noise (CMN), which better fits systems  ...  Under coloured noise, known modifications of the Kalman filter (KF) exist only for discrete-time state-space models produced by the forward Euler (FE) method, which fits with feedback control.  ...  The optimal Kalman gain and error covariance were used here as derived in [15] for correlated noise.  ... 
doi:10.1049/iet-spr.2019.0166 fatcat:kpvk6ov6tjbrlpwdz3tapmxpjm

Estimating and interpreting the instantaneous frequency of a signal. II. Algorithms and applications

B. Boashash
1992 Proceedings of the IEEE  
Guidelines are given as to which estimation method should be used for a given signal class and signal-to-noise ratio (SNR).  ...  IF is extended to be able to cope with discrete time signals. The specific problem explored is that of estimating the IF of frequency modulated (FM) discrete-time signals imbedded in Gaussian noise.  ...  O'Shea and B. Ristic for their contribution and help in the preparation of the manuscript as well as L. B. White and D. Gray for reviewing the manuscript.  ... 
doi:10.1109/5.135378 fatcat:tj4f3oo2m5dsrg4pixdbm36xn4


S. Moyerman, E. Bierman, P. A. R. Ade, R. Aiken, D. Barkats, C. Bischoff, J. J. Bock, H. C. Chiang, C. D. Dowell, L. Duband, E. F. Hivon, W. L. Holzapfel (+19 others)
2013 Astrophysical Journal  
The features exhibit strong agreement with BICEP's measurements of the Galaxy using non-FRM pixels and with the Galactic polarization models.  ...  This marks the first detection of high signal-to-noise mm-wave celestial polarization using fast, active optical modulation.  ...  Non-FRM data were processed using the same analysis pipeline as the FRM data with a few exceptions. The initial deconvolution was applied with a low-pass filter at 5 Hz.  ... 
doi:10.1088/0004-637x/765/1/64 fatcat:57xi4nacezaczkfi5pxiihsree

A fast and accurate single frequency estimator

S. Kay
1989 IEEE Transactions on Acoustics Speech and Signal Processing  
The process is actually a moving average with coefficients 1 and -1.  ...  o r t = 0, 1, * . . , N -2, which becomes, from (3), It is clear from ( 5 ) that the problem now is to estimate the mean, wo, of a colored Gaussian noise process.  ... 
doi:10.1109/29.45547 fatcat:eptsi6k4njarldhlvpezn4m4ku

Spacecraft Angular Rate Estimation from Magnetometer Data Only Using an Analytic Predictor

Paolo Tortora, Yaakov Oshman, Fabio Santono
2004 Journal of Guidance Control and Dynamics  
Colored Noise Modeling A first-order Markov process is used to model the colored mea- surement noise n= Pi ny, 1+ We] (12) where the matrix ®; is related to the noise decorrelation time and w, is a zero-mean  ...  The measurement noise, rendered colored by the differencing involved with the filter’s implementation, is han- died via approximate Markov modeling and application of Bryson and Henrikson’s reduced-order  ... 
doi:10.2514/1.10332 fatcat:2i33n266kbff3kgksq3qpvrjdm

Accurate and Standardized Coronary Wave Intensity Analysis

Simone Rivolo, Tiffany Patterson, Kaleab N. Asrress, Michael Marber, Simon Redwood, Nicolas P. Smith, Jack Lee
2017 IEEE Transactions on Biomedical Engineering  
Methods: The novel approach combines an adaptive Savitzky-Golay filter with high-order central finite differencing after ensemble-averaging the acquired waveforms.  ...  Results: The automatic cWIA algorithm provided satisfactory accuracy under a wide range of noise scenarios (≤10% and ≤20% error in the estimation of wave areas and peaks, respectively).  ...  This problem, as shown in [24] , can be solved pointwise by optimizing the Stein's unbiased risk estimator (SURE) objective [25] , which is an unbiased estimator of the mean squared error.  ... 
doi:10.1109/tbme.2016.2593518 pmid:28113201 fatcat:dxwzwcual5cypeoa5vpbnqym6q


Barak Zackay, Eran O. Ofek, Avishay Gal-Yam
2016 Astrophysical Journal  
Furthermore, we present extensions of this method that make it resilient to registration errors, color-refraction errors, and any noise source that can be modelled.  ...  Due to the varying seeing conditions, the image subtraction process is non-trivial, and existing solutions suffer from a variety of problems.  ...  Registration and color-refraction errors Image subtraction relies on many steps taken prior to the differencing process.  ... 
doi:10.3847/0004-637x/830/1/27 fatcat:ugfryvbjk5bvxijetd3ic2dq34

Gravity Error Compensation Using Second-Order Gauss-Markov Processes

Jason M. Leonard, Felipe G. Nievinski, George H. Born
2013 Journal of Spacecraft and Rockets  
Nazarenko and Alfriend [13] developed an approach for estimating the colored noise parameters in the orbit determination process for correlation functions of gravity disturbing forces.  ...  The system dynamics were defined earlier by Eqs. (3) and (4) where the observation noise €(f) is postulated uncorrelated and the dynamic noise n(f) is a colored, time-correlated, dynamic Gaussian noise  ... 
doi:10.2514/1.a32262 fatcat:im4rjgn3qnf2pgtgqwty5do4c4

Novel prior position determination approaches in particle filter for ultra wideband (UWB)‐Based indoor positioning

Ning Zhou, Lawrence Lau, Ruibin Bai, Terry Moore
2021 Navigation  
The test result shows that the particle filter with the proposed approaches performs similarly to the Rao-Blackwellized particle filter and slightly better than the particle filter with IMU.  ...  Compared with the standard particle filter, the particle filters with our proposed approaches achieve similar positioning accuracies with less computation time.  ...  For an unbiased assessment in our test, the standard deviations of the process and measurement noises used in the test are shown in Table 2 .  ... 
doi:10.1002/navi.415 fatcat:vcgmtf74nzdgxn7ovj5ixo2nxq


S. Kumar, S. Gezari, S. Heinis, R. Chornock, E. Berger, A. Rest, M. E. Huber, R. J. Foley, G. Narayan, G. H. Marion, D. Scolnic, A. Soderberg (+15 others)
2015 Astrophysical Journal  
image-differencing time-series data.  ...  We use three deterministic light-curve models to fit burst-like transients and one stochastic light curve model, the Ornstein-Uhlenbeck process, in order to fit variability that is characteristic of active  ...  We thank the referee and the scientific editor for insightful comments and suggestions.  ... 
doi:10.1088/0004-637x/802/1/27 fatcat:jx3r6tktw5bnrnr2t7typl2lui

Making maps of cosmic microwave background polarization forB-mode studies: the POLARBEAR example

Davide Poletti, Giulio Fabbian, Maude Le Jeune, Julien Peloton, Kam Arnold, Carlo Baccigalupi, Darcy Barron, Shawn Beckman, Julian Borrill, Scott Chapman, Yuji Chinone, Ari Cukierman (+37 others)
2017 Astronomy and Astrophysics  
Filtering is frequently used to minimize the impact of low frequency noise, atmospheric contributions and/or scan synchronous signals on the resulting maps.  ...  We then study the effects of time-domain filtering on the noise correlation structure in the map domain, as well as impact it may have on the performance of the popular pseudo-spectrum estimators.  ...  Consequently, using the optimal weight, C −1 n , in the map-making process may be difficult.  ... 
doi:10.1051/0004-6361/201629467 fatcat:4tr667basnfjbj7xrvs4kjlstq


C. Pryke, P. Ade, J. Bock, M. Bowden, M. L. Brown, G. Cahill, P. G. Castro, S. Church, T. Culverhouse, R. Friedman, K. Ganga, W. K. Gear (+19 others)
2009 Astrophysical Journal  
For the implemented data cuts and processing technique such contamination is undetectable.  ...  We report results from the second and third seasons of observation with the QUaD experiment.  ...  The color scale is ±20 μK. These maps have been apodized and filtered to enhance signal to noise-see the text for details.  ... 
doi:10.1088/0004-637x/692/2/1247 fatcat:dravo22shff4jbiucjrei2jjyq

On a unified framework for linear nuisance parameters

Yongchang Hu, Geert Leus
2017 EURASIP Journal on Advances in Signal Processing  
., the reference choice is actually not important for the differencing process.  ...  a reference and then taking differences between the reference and the observations, which we will refer to as "differential signal processing."  ...  For the OSP-based estimation, in order to remove the impact of u, using P ⊥ G actually colors the noise, but using U T n keeps the model noise white.  ... 
doi:10.1186/s13634-016-0438-8 fatcat:dmwwuwza6nbmrdrdf2uux6ymeu
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