• Title/Summary/Keyword: Residual Filter

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INS/GPS Integration System Using Adaptive Filter with Estimating Measurement Noise Variance (측정잡음 분산추정 적응필터를 이용한 INS/GPS 결합 시스템)

  • Yu, Myeong-Jong
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.7
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    • pp.688-693
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    • 2007
  • The INS/GPS integration system is designed by employing an adaptive filter that can estimate the measurement noise variance using the residual of the filter. To verify the efficiency of the proposed loosely-coupled INS/GPS integration system, simulation is performed by assuming that GPS information has large position errors. Simulation results show that the proposed integration system with the adaptive filter is more effective in estimating the position and attitude errors than those with the Extended Kalman Filter.

Basic Study of a Comparison of the Performances of the α-β-γ Filter and the Kalman Filter Regarding Their Use in the ARPA-System Tracking Module of High-Dynamic Warships

  • Njonjo, Anne Wanjiru;Pan, Bao-Feng;Jeong, Tae-Gweon
    • Journal of Navigation and Port Research
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    • v.41 no.5
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    • pp.269-276
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    • 2017
  • "Tracking" here refers to the estimation of a moving object with some degree of accuracy where at least one measurement is given. The measurement, which is the sensor-obtained output, contains systemic errors and errors that are due to the surrounding environment. Tracking filters play the key role of the target-state estimation after the updating of the tracking system; therefore, the type of filter that is used for the conduction of the estimations is crucial in the determining of the reliability of the updated value, and this is especially true since the performances of different filters vary when they are subjected to different environmental and initial conditions. The purpose of this paper is the conduction of a comparison between the performances of the ${\alpha}-{\beta}-{\gamma}$ filter and the Kalman filter regarding an ARPA-system tracking module that is used on board high-dynamic warships. The comparison is based on the capability of each filter to reduce noise and maintain a stable response. The residual error is computed from the difference between the true and predicted positions and the true and estimated positions for the given sample. The results indicate that the tracking accuracy of the Kalman filter is higher compared with that of the optimal ${\alpha}-{\beta}-{\gamma}$ filter; however, the response of the optimal ${\alpha}-{\beta}-{\gamma}$ filter is more stable.

Basic Study of the Optimization of the Gain Parameters α, β and γ of a Tracking Module for ARPA system on Board High Dynamic Warships

  • Pan, Bao-Feng;Njonjo, Anne Wanjiru;Jeong, Tae-Gweon
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2016.05a
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    • pp.305-307
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    • 2016
  • The purpose of this paper is to determine the optimal values of the gain parameters used in the tracking module for a highly dynamic warship. The algorithm of the tracking module uses the ${\alpha}-{\beta}-{\gamma}$ filter to compute accurate estimates and update the state variables, that is, positions, velocity and acceleration. The filtering coefficients ${\alpha}$, ${\beta}$ and ${\gamma}$ are determined from set values of the damping parameter, ${\xi}$. Optimization is achieved by plotting a range of the damping parameter ${\xi}$ against the corresponding residual error and then selecting the best value of ${\xi}$ with the minimum residual error. Optimal values of the smoothing coefficients are subsequently computed from the selected damping parameter, ${\xi}$.

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Study on Prediction of Drill Breakage using Spindle and Z-axis Motor Currents (주축 및 Z축 모터전류를 이용한 드릴파손 예측에 관한 연구)

  • Kim, Hwa-Young;Ahn, Jung-Hwan
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.7
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    • pp.101-108
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    • 1999
  • A reliable and practical monitoring of drill breakage is a crucial technique in automatic machining system. In this study, a real-time monitoring system was developed to predict drill breakage using both spindle and z-axis motor current. Drill breakage is monitored by detecting the level of residual motor current which is obtained through the moving average filter algorithm. The residual exhibits a feature of sharp decrease just before drill breakage. Therefore, drill breakage can be predicted by detecting this characteristic of residual component. Z-axis motor current is better to predict the drill breakage than spindle motor current, because the former is faster in response than the latter when drill breakage is occurred. The evaluation experiments have shown that the developed monitoring system works very well.

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Adaptive Residual Prediction for coding efficiency on H.264 Based Scalable Video Coding (H.264 기반 스케일러블 비디오 부호화에서 부호화 효율을 고려한 잔여신호 예측에 관한 연구)

  • Park, Seong-Ho;Oh, Hyung-Suk;Kim, Won-Ha
    • Proceedings of the KIEE Conference
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    • 2005.10b
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    • pp.189-191
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    • 2005
  • In the scalable extension of H.264/AVC, the codec is based on a layered approach to enable spatial scalability. In each layer, the basic concepts of motion compensated prediction and intra prediction are employed as in standard H.264/AVC. Additionally inter-layer prediction algorithm between successive spatial layers is applied to remove redundancy. In the inter-layer prediction, as the prediction we can use the signal that is the upsampled signal of the lower resolution layer. In this case, coding efficiency can be variable as the kinds of interpolation filter. In this paper, we investigate the approach to select the interpolation filter for residual signal in order to optimal prediction.

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On the Number of Modes Required to Observe Forces in Flexible Structures (유연 구조물에서 반력 평가를 위해 요구되는 모드의 수)

  • Kim, Joo-Hyung;Kim, Sang-Sup
    • Proceedings of the KSME Conference
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    • 2001.11a
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    • pp.562-567
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    • 2001
  • The number of required modes to provide accurate force information in a truncated model of a flexible structure is investigated. In the case of modal truncation of a distributed parameter system, the difference in convergence rates between displacements and forces is discussed. The residual flexibility, a term from past literature, is used to recapture some of the lost force information in a truncated model. This paper presents numerical and experimental results of a study where the residual flexibility is used in conjunction with a Kalman filter so that accurate force information may be obtained from a small set of displacement measurements with a reduced-order model. The motivation for this paper is to be able to obtain accurate information about unmeasurable dynamic reaction forces in a rotating machine for diagnostic and control purposes.

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On the Number of Modes Required to Observe Forces in Flexible Structures (유연 구조물에서 반력 평가를 위해 요구되는 모드의 수)

  • Kim, Joo-Hyung;Kim, Sang-Sup
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.1
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    • pp.150-157
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    • 2002
  • The number of required modes to provide accurate force information in a truncated model of a flexible structure is investigated. In the case of modal truncation of a distributed parameter system, the difference in convergence rates between displacements and forces is discussed. The residual flexibility. a term from past literature, is used to recapture some of the lost force information in a truncated model. This paper presents numerical and experimental results of a study where the residual flexibility is used in conjunction with a Kalman filter so that accurate force information may be obtained from a small set of displacement measurements wish a reduced-order model. The motivation for this paper is to be able to obtain accurate information about unmeasurable dynamic reaction forces in a rotating machine for diagnostic and control purposes.

A Design of Instrumentation Amplifier using a Nested-Chopping Technique (Nested-chopping 기법을 이용한 Instrumentation Amplifier 설계)

  • Lee, Jun-Gyu;Burm, Jin-Wook;Lim, Shin-Il
    • Proceedings of the KIEE Conference
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    • 2007.10a
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    • pp.483-484
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    • 2007
  • In this paper, we describe a chip design technique for instrumentation amplifier using a nested-chopping technique. Conventional chopping technique uses a pair of chopper, but nested chopping technique uses two pairs of chopper to reduce residual offset and 1/f noise. The inner chopper pair removes the 1/f noise, while the outer chopper pair reduces the residual offset. Our instrumentation amplifier using a nested chopping technique has residual offset under 100 nV. We also implement very low frequency filter. Since this filter needs very large RC time constant, we use a technique named 'diode connected PMOS' to increase R with small die area. The total power consumption is 3.1 mW at the supply voltage of 3.3V with the 0.35um general CMOS technology. The die area of implemented chip was $530um{\times}300um$.

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Abrupt Error Detection of Mobile Robot Using LMS Algorithm to Residuals of Kalman Filter (칼만필터의 잔류오차에 최소적응알고리즘을 적용한 이동로봇의 위치추정오차 검출기법)

  • Lee Yeon-Seok
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.10 no.7
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    • pp.1332-1337
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    • 2006
  • In this paper, a noble second stage hetero-estimator is used for positioning error detection in mobile robot. Previous methods are either expensive in the case of positioning error correction or not able to detect positioning error. To overcome the latter shortage, the positioning error detection is performed using second stage hetero-estimator in motor model of mobile robot without any additional costs. A Kalman filter in the estimator gets the residual of motor current and an adaptive self-tunning filter checks the whiteness of the residual. Some simulation results show the possibility of the proposed method.

Performance Analysis of Coding According to the Interpolation filter in Inter layer Intra Prediction of H.264/SVC (H.264/SVC의 계층간 화면내 예측에서 보간법에 따른 부호화 성능 분석)

  • Gil, Dae-Nam;Cheong, Cha-Keon
    • Proceedings of the IEEK Conference
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    • 2009.05a
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    • pp.225-227
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    • 2009
  • International standard specification, H.264/SVC improved from H.264/AVC, is set up so as to promote free use of huge multimedia data in various channel environments.;H.264/AVC is a international standard speicification for video compression, adopted and commercialized as standard for DMB broadcasting by JVT of ISO/IEC MPEG and ITU-T VCEG. SVC standard uses 'intra/inter prediction' in AVC as well as 'inter-layer intra prediction', 'inter-layer motion prediction' and 'inter-layer residual prediction' to improve efficiency of encoding. Among prediction technologies, 'inter-layer intra prediction' is to use co-located block of up sampled sublevels as a prediction signal. At this time, application of interpolation is one of the most important factors to determine encoding efficiency. SVC's currently using poly-phase FIR filter of 4-tap and 2-tap respectively to luma components. This paper is written for the purpose of analyzing encoding performance according to the interpolation. For this purpose, we applied poly-phase FIR filter of '2-tap', '4-tap' and '6-tap' respectively to luma components and then measured bit-rate, PNSR and running time of interpolation filter. We're expecting that the analysis results of this paper will be utilized for effective application of interpolation filter. SVC standard uses 'intra/inter prediction' in AVC as well as 'inter-layer intra prediction', 'inter-layer motion prediction' and 'inter-layer residual prediction' to improve efficiency of encoding.

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