Adaptive Filtering Algorithm Research Articles

Research of adaptive algorithms of recurrent filtration at processing data from GNSS when radio signals lose from navigation satellites

Algorithms for linear and adaptive Kalman filtering of navigation data received from satellite navigation systems are considered. A comparison of the Kalman linear filter algorithms, the Yazvinsky adaptive filter, the adaptive filter with feedback on the updated sequence and the adaptive filter without a priori information about the noise covariance matrices is made. The algorithms are tested in a practical experiment — navigation information from GNSS is obtained by using a GNSS receiver installed on a car moving in an urban environment. The comparative analysis results of the algorithms usage for adaptive modifications of the Kalman filter are presented. The results showed that the Yazvinsky filter works worse when radio signals from navigation satellites disappear, and the adaptive filter algorithm without a priori information about the noise covariance matrices does not actually filter the data. Keywords GNSS, navigation information, Kalman filter, Yazvinsky filter, adaptive Kalman filter

A new fuzzy logic-based adaptive complementary filter algorithm for UAV attitude estimation

A new fuzzy logic-based adaptive complementary filter algorithm for UAV attitude estimation

Open circuit voltage - state of charge curve calibration by redefining max–min bounds for lithium-ion batteries

The relationship between open circuit voltage (OCV) and state of charge (SoC) is essential for SoC estimation of lithium-ion batteries, which can be secured by either low-current OCV test or incremental OCV test, with incremental OCV test demonstrating better results. Nevertheless, low current always leads to a discharge capacity that is inconsistent with maximum available capacity, which is a key parameter in SoC estimation. Therefore, the resultant OCV-SoC curve fails to provide a consistent SoC range and thus affects SoC estimation. In this paper, OCV-SoC curves obtained from low-current OCV tests are calibrated by redefining max–min bounds to improve SoC estimation accuracy. Max–min bounds of SoC are redefined by measuring, calculating and resetting upper and lower cut-off voltages of the OCV-SoC curve. Based on second-order RC model, model parameters are identified online and adaptive square-root unscented Kalman filter (ASRUKF) algorithm is introduced to perform SoC estimation, which is proved to be precise and adaptive. The calibrated OCV-SoC curve achieves an overall better SoC estimation performance than that obtained from the low-current OCV test and incremental OCV test, which is validated by experiments of LiNiMnCoO2 (NMC) batteries at 0°C and 25°C.

Robust adaptive filtering based on M-estimation-based minimum error entropy criterion

Renyi’s entropy, as a crucial similarity measure of information quantity, is the cornerstone of the minimum error entropy (MEE) criterion. However, the conventional MEE cost had to employ a computationally feasible estimator to approximate the error entropy directly from the data samples, which could be contaminated by large interference outliers, and the performance of MEE could deteriorate in the presence of complex non-Gaussian noises. To address this problem, utilizing the robust statistical properties of M-estimation, the M-estimators are introduced to the MEE criterion by down-weighting or discarding large error residuals; we can then proceed to obtain a more accurate Renyi’s-entropy estimator compared to the empirical form under the recalculated error distribution. This innovative approach could be simply implemented while ensuring great robustness. Therefore, a robust adaption criterion called the M-estimation-based minimum error entropy (MMEE), and its corresponding adaptive filtering algorithm are proposed that detect and bound the influence of outliers in non-Gaussian noise. In addition, the mean stability and steady-state performance of the proposed MMEE are evaluated, furthermore, we theoretically prove that the MMEE algorithm could achieve lower steady-state error than MEE under the same conditions. Simulation results verify our theoretical predictions, and demonstrate the superiority and robustness of the MMEE algorithm compared with several existing robust filtering algorithms for restraining various non-Gaussian noises.

Leveraging digital twins for fault diagnosis in autonomous ships

Autonomous ships are vulnerable to a spectrum of potential faults, including propeller damage, shaft-line failures, and electrical supply disruptions. Swift fault detection is critical to minimize the potentially catastrophic consequences of these issues. In this paper, we introduce an innovative digital twin-based method for diagnosing faults in autonomous ships. Our digital twin system collects data from the ship’s sensor array, conducts comprehensive analysis, computes fault parameters, and provides real-time visualizations of the findings. To achieve this, we utilize the ship’s dynamical model and employ a novel adaptive extended Kalman filter (AEKF) algorithm to estimate the severity of these faults. We evaluate the effectiveness of this approach through numerical simulations and practical implementation in an autonomous surface vehicle called the Otter, developed by Maritime Robotics. The experimental results, which consider both normal and faulty ship propulsion systems, underscore the significant potential of this novel approach to improve ship condition monitoring during operational activities.

An improved multi innovation adaptive robust dual kalman filter algorithm for estimating battery state

An improved multi innovation adaptive robust dual kalman filter algorithm for estimating battery state

Unbalance Vibration Suppression Control of PMa-BSynRM Based on Total Least Square Adaptive Filtering Algorithm

Unbalance Vibration Suppression Control of PMa-BSynRM Based on Total Least Square Adaptive Filtering Algorithm

Soc Estimation of Li-ion Battery Based on Adaptive CKF Algorithm

A second-or der RC equivalent circuit model was established to improve the estimation accuracy of state of charge (SOC) of power Li-ion batteries, and the model parameters were identified by the recursive least square method with forgetting factor (FFRLS). On this basis, an adaptive cubature kalman filter (ACKF) algorithm was proposed to adaptively modify the process noise covariance matrix and the measurement noise covariance matrix to improve the SOC estimation accuracy. Finally, the SOC estimation algorithm was verified by MATLAB simulations. The results show that compared with UKF and CKF algorithms, the proposed algorithm has higher estimation accuracy and robustness, and can meet the application requirements.

A fast convergence strategy based on gray wolf optimization algorithm for co-estimation of battery state of charge and capacity

Under the same initial noise covariance, the extended Kalman filter (EKF) algorithm and the adaptive extended Kalman filter (AEKF) algorithm show different convergence rates in the battery state estimation experiments. It can be concluded from the experimental results that the convergence rate of the EKF algorithm is usually faster than that of the AEKF algorithm, but the estimation accuracy of the AEKF algorithm is usually better than that of the EKF algorithm. In response to this issue, this article proposes a fast convergence strategy based on the grey Wolf optimization (GWO) algorithm for the co-estimation of battery SOC and capacity. Based on battery parameter identification, the proposed algorithm utilizes the GWO to optimize the initial noise covariance of the EKF algorithm. Then, the EKF algorithm with optimized initial noise covariance is used to quickly pull the SOC estimation results into a stable region and switch to the AEKF algorithm to jointly estimate the SOC and capacity of the battery. Through data validation under different working conditions, it is shown that the proposed target algorithm has a much faster convergence ability than the comparison algorithm, and the proposed algorithm also exhibits excellent robustness under different initialization errors and temperatures.

Adaptive Filter Model of Cerebellum for Biological Muscle Control With Spike Train Inputs.

Prior applications of the cerebellar adaptive filter model have included a range of tasks within simulated and robotic systems. However, this has been limited to systems driven by continuous signals. Here, the adaptive filter model of the cerebellum is applied to the control of a system driven by spiking inputs by considering the problem of controlling muscle force. The performance of the standard adaptive filter algorithm is compared with the algorithm with a modified learning rule that minimizes inputs and a simple proportional-integral-derivative (PID) controller. Control performance is evaluated in terms of the number of spikes, the accuracy of spike input locations, and the accuracy of muscle force output. Results show that the cerebellar adaptive filter model can be applied without change to the control of systems driven by spiking inputs. The cerebellar algorithm results in good agreement between input spikes and force outputs and significantly improves on a PID controller. Input minimization can be used to reduce the number of spike inputs, but at the expense of a decrease in accuracy of spike input location and force output. This work extends the applications of the cerebellar algorithm and demonstrates the potential of the adaptive filter model to be used to improve functional electrical stimulation muscle control.

Research on Variable-Step-Size Adaptive Filter Algorithm with a Momentum Term

To address the contradiction between the convergence error and convergence rate in the LMS algorithm, this study proposes a variable-step-size adaptive filter algorithm with a momentum term based on the logistic function. First, the normalization LMS algorithm is obtained by seeking the extremum under the Lagrange function constraint. Second, to reduce the convergence error of the algorithm, the logistic model is used as a function model of step size variation with error, resulting in a variable-step normalization LMS algorithm. Our experimental results demonstrate that this algorithm achieves smaller convergence errors compared to those of the traditional LMS algorithm. Finally, to further improve the convergence rate of the algorithm, a momentum term is introduced into the weight coefficient update process of the LMS algorithm. This leads to the development of a variable-step adaptive filter algorithm with a momentum term based on the logistic function. The impact of different parameters on the algorithm performance is also investigated. In order to verify the rationality of the proposed algorithm, a dynamic system mathematical model was identified using the proposed algorithm. The results showed that the proposed algorithm had an identification accuracy of over 97% for the mathematical model parameters and a suppression of over 99% for noise. In order to verify the engineering application value of the proposed algorithm, real-time vibration data fitting experiments were conducted in the Aeroelasticity Laboratory of the China Aerodynamics Research and Development Center, and their results were compared with three algorithms: ARMAX, N4SID, and LMS. The results showed that the proposed algorithm had a higher fitting accuracy than the three others. Through simulations and experiments, it is demonstrated that this study has value both theoretically and in engineering applications, promoting engineering applications of adaptive filtering algorithms and providing strong support for the research of adaptive control.

A robust generalized soft-root-sign adaptive filter algorithm for a grid-coupled PV system

A robust generalized soft-root-sign adaptive filter algorithm for a grid-coupled PV system

Robust Normalized Subband Adaptive Filter Algorithm Based on Logarithmic and Total Least Squares for Correlated Input Signals and Impulsive Noise

The total least squares normalized subband adaptive filter (TLS-NSAF) algorithm proposed in recent years has shown excellent performance in processing the errors-in-variables (EIV) model of correlated input signals. However, when the system is Interferenced by the impulsive noise, the convergence of TLS-NSAF algorithm will be seriously deteriorated. To address this problem, this paper improves the TLS-NSAF algorithm by using the logarithmic function, and proposes a robust NSAF algorithm based on logarithmic and total least squares method (RNSAF-LTLS). The algorithm performs well in an environment where input signal is a correlated input signal and output signal contains impulsive noise. In addition, there are few studies in the existing literature that apply the TLS method to subbands, and there are few performance analyses associated with it. To address this problem, this paper analyzes the local stability, derives the step size that guarantees the stability of the RNSAF-LTLS algorithm, and calculates the steady-state mean squared deviation (S-MSD). Finally, the RNSAF-LTLS algorithm is verified in system identification (SI) and acoustic echo cancellation (AEC) applications. The simulation results prove the superiority of the proposed algorithm and the correctness of the theoretical analysis.

Maximum Complex Correntropy Criterion Adaptive IIR Filtering Based on Gauss-Newton Approach

Adaptive infinite impulse response (IIR) filters have received noticeable consideration for its lower computational complexity compared with adaptive finite impulse response (FIR) filters recently. At present, the adaptive IIR algorithms are almost using the well-established stochastic gradient descent method, but the convergence rate is less than satisfactory. In this paper, to pursue the fast convergence speed of Gauss-Newton (GN) method, we present a GN algorithm for adaptive IIR filters with complex coefficients based on the complex correntropy measure. Besides, the steady-state excess mean square error is provided. Simulations are performed to show the eximious performance of this algorithm.

A second-order adaptive time filter algorithm with different subdomain variable time steps for the evolutionary Stokes/Darcy model

A second-order adaptive time filter algorithm with different subdomain variable time steps for the evolutionary Stokes/Darcy model

Underwater Doppler-bearing maneuvering target motion analysis based on joint estimated adaptive unscented Kalman filter

Noncooperative maneuvering target motion analysis is one of the challenging tasks in the field of underwater target localization and tracking for passive sonar. Underwater noncooperative targets often perform various maneuvers, and the targets are commonly modeled as a combination of constant-velocity models and coordinate-turn models with unknown turning rates. Traditional algorithms for Doppler-bearing target motion analysis are incapable of processing noncooperative maneuvering targets because the algorithms rely on a priori information of the turning rate and the center frequency. To address these shortcomings, this paper proposes the joint estimated adaptive unscented Kalman filter (JE-AUKF) algorithm. The JE-AUKF places the center frequency and turning rate into the state vector and constructs a time-varying state model that self-adapts to a maneuvering target. The JE-AUKF also introduces a time-varying fading factor into the process noise covariance matrix to improve the tracking performance. Simulations and sea trials are conducted to compare the performance of the JE-AUKF with the iterative unscented Kalman filter, the interacting multiple model-unscented Kalman filter, the interacting multiple model-iterative unscented Kalman filter, and the interacting multiple model-joint estimated unscented Kalman filter. The result shows that the JE-AUKF achieves better tracking performance for noncooperative maneuvering targets.

State of charge estimation for lithium-ion battery based on adaptive extended Kalman filter with improved residual covariance matrix estimator

The accurate estimation of the state of charge (SOC) in lithium-ion batteries plays a pivotal role in battery management systems. This paper proposes an improved adaptive extended Kalman filter (IAEKF) algorithm for more precise SOC estimation. Initially, a novel characteristic parameter is introduced to assess the suitability of the forgetting factor in the adaptive forgetting factor recursive least squares (AFFRLS) algorithm. This evaluation aims to improve the accuracy of recognizing the parameters of the battery model. Additionally, an even function with adjustable parameters is constructed to solve the appropriate value for the forgetting factor. Subsequently, the correlation coefficients of the residual series at different moments are approximated by mathematical transformations that link the inner products of the column vectors in the constructed residual matrix to the calculation of the correlation coefficients. By comparing it with optimized thresholds using particle swarm optimization, one can adjust the sliding window length to enhance the estimation accuracy of IAEKF. The experimental results confirm that IAEKF achieves superior estimation accuracy and robustness compared to other AEKF algorithms, and the accuracy of AFFRLS parameter identification is higher than that of recursive least squares, thereby substantiating the effectiveness of the proposed algorithms.

Spline NLMS Adaptive Filter Algorithm based on the Signed Regressor of Input Signal

Spline NLMS Adaptive Filter Algorithm based on the Signed Regressor of Input Signal

Ultrasonic- and IMU-Based High-Precision UAV Localization for the Low-Cost Autonomous Inspection in Oil and Gas Pressure Vessels

With the increasing demands for unmanned aerial vehicle (UAV) based autonomous inspections in the oil and gas industry, one of the challenging issues for 3D UAV positioning has emerged due to the satellite signal blocking. Considering the existing characteristics of the ultrasonic based technique, such as the low cost, extremely lightweight and high positioning accuracy, it can be promising as the potential solution. Nevertheless, the low position update rate and vulnerable positioning performance to the changing environment still limit its applications on UAV. Therefore, in this article, an ultrasonic and inertial measurement unit (IMU) based localisation algorithm and low cost UAV autonomous inspection system are presented. With the incorporation of the IMU, the position update rate, accuracy and stability of the algorithm can all be significantly improved. This is done by the adaptively estimated noise covariance matrices through the proposed adaptive extended Kalman filter (AEKF) algorithm and the added weighting factors. Followed by, an additional virtual observation process is presented to overcome the unavailability of the observation information for further performance improvement. Finally, extensive numerical results and field tests demonstrate that the proposed algorithm and system can achieve the high update rate, reliable, accurate and precision UAV positioning in oil and gas pressure vessels and are feasible for the UAV autonomous inspection in these environments.

Application of Adaptive Robust Kalman Filter Base on MCC for SINS/GPS Integrated Navigation.

In this paper, an adaptive and robust Kalman filter algorithm based on the maximum correntropy criterion (MCC) is proposed to solve the problem of integrated navigation accuracy reduction, which is caused by the non-Gaussian noise and time-varying noise of GPS measurement in complex environment. Firstly, the Grubbs criterion was used to remove outliers, which are contained in the GPS measurement. Then, a fixed-length sliding window was used to estimate the decay factor adaptively. Based on the fixed-length sliding window method, the time-varying noises, which are considered in integrated navigation system, are addressed. Moreover, a MCC method is used to suppress the non-Gaussian noises, which are generated with external corruption. Finally, the method, which is proposed in this paper, is verified by the designed simulation and field tests. The results show that the influence of the non-Gaussian noise and time-varying noise of the GPS measurement is detected and isolated by the proposed algorithm, effectively. The navigation accuracy and stability are improved.