• Title/Summary/Keyword: simulated kalman filter

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Real-Time Flood Forecasting System For the Keum River Estuary Dam(II) -System Application- (금강하구둑 홍수예경보시스템 개발(II) -시스템의 적용-)

  • 정하우;이남호;김현영;김성준
    • Magazine of the Korean Society of Agricultural Engineers
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    • v.36 no.3
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    • pp.60-66
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    • 1994
  • This paper is to validate the proposed models for the real-time forecasting for the Keum river estuary dam such as tidal-level forecasting model, one-dimensional unsteady flood routing model, and Kalman filter models. The tidal-level forecasting model was based on semi-range and phase lag of four tidal constituents. The dynamic wave routing model was based on an implicit finite difference solution of the complete one-dimensional St. Venant equations of unsteady flow. The Kalman filter model was composed of a processing equation and adaptive filtering algorithm. The processng equations are second ordpr autoregressive model and autoregressive moving average model. Simulated results of the models were compared with field data and were reviewed.

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Modeling of Heliostat Sun Tracking Error Using Multilayered Neural Network Trained by the Extended Kalman Filter (확장칼만필터에 의하여 학습된 다층뉴럴네트워크를 이용한 헬리오스타트 태양추적오차의 모델링)

  • Lee, Sang-Eun;Park, Young-Chil
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.7
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    • pp.711-719
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    • 2010
  • Heliostat, as a concentrator reflecting the incident solar energy to the receiver located at the tower, is the most important system in the tower-type solar thermal power plant, since it determines the efficiency and performance of solar thermal plower plant. Thus, a good sun tracking ability as well as its good optical property are required. In this paper, we propose a method to compensate the heliostat sun tracking error. We first model the sun tracking error, which could be measured using BCS (Beam Characterization System), by multilayered neural network. Then the extended Kalman filter was employed to train the neural network. Finally the model is used to compensate the sun tracking errors. Simulated result shows that the method proposed in this paper improve the heliostat sun tracking performance dramatically. It also shows that the training of neural network by the extended Kalman filter provides faster convergence property, more accurate estimation and higher measurement noise rejection ability compared with the other training methods like gradient descent method.

Three-Phase Reference Current Generator Employing with Kalman Filter for Shunt Active Power Filter

  • Hasim, Ahmad Shukri Abu;Ibrahim, Zulkifilie;Talib, Md. Hairul Nizam;Dardin, Syed Mohd. Fairuz Syed Mohd.
    • Journal of Electrical Engineering and Technology
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    • v.12 no.1
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    • pp.151-160
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    • 2017
  • This paper presents a new technique of reference current generator based on Kalman filter (KF) estimator for three-phase shunt active power filter (APF). The stationary reference frame (d-q algorithm) is used to transform the load currents into DC component. The harmonics of load currents are extracted and the three-phase reference currents are generated using KF estimator. The work is simulated using Matlab/Simulink platform. To validate the simulation results, an experimental test-rig have been perform using real-time control dSPACE DS1104. In addition, hysteresis current control was used to generate the switching signal for the correction of the harmonics in the system. The non-linear load were constructed with three-phase rectifier which connected in series with inductor and parallel with resistor and capacitor. The results shows that the new technique of shunt APF embedded with KF is proven to eliminate the harmonics created by the non-linear load with some improvement on the total harmonics distortion (THD).

Filtering Algorithms for Position Evaluation and Tracking of Tactical Objects (전술객체 위치 모의 및 추적을 위한 필터링 알고리즘 연구)

  • Kim, Seok-Kwon;Jin, Seung-Ri;Son, Jae-Won;Park, Dong-Jo
    • Journal of the Korea Society for Simulation
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    • v.19 no.4
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    • pp.199-208
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    • 2010
  • Positions of tactical objects are represented as Time, Space and Position Information(TSPI) in modeling and simulations(M&S). The format and required information record for TSPI is investigated by referring the TSPI object model of the Test and Training Enabling Architecture(TENA), which has been developed by the United States Department of Defense. The most sophisticated tactical data link, Link-16 has a Precise Participant Location and Information (PPLI) message. We study the data format for exchanging TSPI data based on the PPLI message. To evaluate and track positions of tactical objects, we consider the Kalman filter for linear systems, and the extended Kalman filter and the unscented Kalman filter for nonlinear systems. Based on motion equations of a ballistic missile, the tracking performance for the trajectory of the ballistic missile is simulated by the unscented Kalman filter.

Unscented KALMAN Filtering for Spacecraft Attitude and Rate Determination Using Magnetometer

  • Kim, Sung-Woo;Abdelrahman, Mohammad;Park, Sang-Young;Choi, Kyu-Hong
    • Journal of Astronomy and Space Sciences
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    • v.26 no.1
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    • pp.31-46
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    • 2009
  • An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.

State of Charge Estimation of Li-Ion Battery Based on CIM and OCV Using Extended Kalman Filter (전류적산법과 OCV 방법을 결합한 Li-Ion 배터리의 충전상태 추정)

  • Park, Joung-Ho;Cha, Wang-Cheol;Cho, Uk-Rae;Kim, Jae-Chul
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.28 no.11
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    • pp.77-83
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    • 2014
  • The Estimation of State of Charge(SOC) for batteries is an important aspect of a Battery Management System(BMS). A method for estimating the SOC is proposed in order to overcome the individual disadvantages of the current integral and Open Circuit Voltage(OCV) estimation methods by combining them using Extended Kalman filter(EKF). The non-linear characteristics of the Li-Ion RC battery model used in this study is also solved through EKF. The proposed method is simulated in a Matlab environment with a Li-Ion Kokam battery (3.7V, 1,500mAh). Results showed that there is an improvement in the estimation error when using the proposed model compared to the conventional current integral method.

Unscented Kalman Filtering for Spacecraft Attitude and Rate Determination Using Magnetometer

  • Kim, Sung-Woo;Park, Sang-Young;Abdelrahman, Mohammad;Choi, Kyu-Hong
    • Bulletin of the Korean Space Science Society
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    • 2008.10a
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    • pp.36.1-36.1
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    • 2008
  • An Unscented Kalman Filter(UKF) for estimation of attitude and rate of a spacecraft using only magnetometer vector measurement is presented. The dynamics used in the filter is nonlinear rotational equation which is augmented by the quaternion kinematics to construct a process model. The filter is designed for low Earth orbit satellite, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. To stabilize the attitude, linear PD controller is applied and the actuator is assumed to be thruster. A Monte-Carlo simulation has been done to guarantee the stability of the filter performance to the various initial conditions. The UKF performance is compared to that of EKF and it reveals that UKF outperforms EKF.

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The control of an upper extremity exoskeleton for stroke rehabilitation: An active force control scheme approach

  • Majeed, Anwar P.P. Abdul;Taha, Zahari;Abdullah, Muhammad Amirul;Azmi, Kamil Zakwan Mohd;Zakaria, Muhammad Aizzat
    • Advances in robotics research
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    • v.2 no.3
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    • pp.237-245
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    • 2018
  • This study evaluates the efficacy of a class robust control scheme namely active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated from the present investigation that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory both in the presence and without the presence of disturbance attributed by the mannequin limb weights (1 kg and 1.5 kg) that mimics the weight of actual human limb weight. Therefore, it is apparent from the results obtained from the present study that the proposed control scheme, i.e., PDAFC is suitable for the application of exoskeleton for stroke rehabilitation.

Fused Navigation of Unmanned Surface Vehicle and Detection of GPS Abnormality (무인 수상정의 융합 항법 및 GPS 이상 검출)

  • Ko, Nak Yong;Jeong, Seokki
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.9
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    • pp.723-732
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    • 2016
  • This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.

A precise parameter estimation of an air vehicle without a priori information (사전 정보가 없는 비행체의 정밀 파라미터 추정)

  • Kim, Jung-Han;Park, Keun-Bum;Song, Yong-Kyu;Hwang, Ick-Ho;Choi, Dong-Kyun
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.18 no.3
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    • pp.21-26
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    • 2010
  • This paper deals with the precise parameter estimation of an air vehicle without a priori information. First, Recursive Least Squares technique, which is an equation error method and does not require any a priori information, is applied and then the extended Kalman filter is used to tune parameters more precisely. To show the performance, a nonlinear longitudinal missile model is simulated and the parameters are estimated. The results show that this consecutive application of the techniques gives a very good estimation performance.