Tracking Filter Research Articles

Sensorless control of a PMSM based on an RBF neural network-optimized ADRC and SGHCKF-STF algorithm

For the problem of the rotor position estimation and control accuracy of permanent magnet synchronous motor (PMSM), this paper proposes a PMSM sensorless based on radial basis function (RBF) neural network optimized Automatic disturbance rejection control (RBF-ADRC) and strong tracking filter (STF) improved square root generalized fifth-order cubature Kalman filter (SGHCKF-STF). The Automatic disturbance rejection control (ADRC) has strong robustness, but there are many parameters and difficult to adjust. Now we use RBF neural network to adjust the parameters in ADRC online so as to improve the robustness and anti-disturbance ability. In order to improve the estimation accuracy of rotor position and speed, the orthogonal triangle (QR) decomposition and STF are introduced on the basis of the generalized fifth-order cubature Kalman filter (GHCKF) to design the SGHCKF-STF algorithm that not only ensure the non-positive nature of the covariance matrix but also improve the ability to cope with sudden changes in state during the filtering process. Experimental results show that the combination of RBF-ADRC and SGHCKF-STF improve the sensorless control effect of the PMSM to some extent.

RCFT: re-parameterization convolution and feature filter for object tracking

Siamese-based trackers have been widely studied for their high accuracy and speed. Both the feature extraction and feature fusion are two important components in Siamese-based trackers. Siamese-based trackers obtain fine local features by traditional convolution. However, some important channel information and global information are lost when enhancing local features. In the feature fusion process, cross-correlation-based feature fusion between the template and search region feature ignores the global spatial context information and does not make the best of the spatial information. In this paper, to solve the above problem, we design a novel feature extraction sub-network based on batch-free normalization re-parameterization convolution, which scales the features in the channel dimension and increases the receptive field. Richer channel information is obtained and powerful target features are extracted for the feature fusion. Furthermore, we learn a feature fusion network (FFN) based on feature filter. The FFN fuses the template and search region features in a global spatial context to obtain high-quality fused features by enhancing important features and filtering redundant features. By jointly learning the proposed feature extraction sub-network and FFN, the local and global information are fully exploited. Then, we propose a novel tracking algorithm based on the designed feature extraction sub-network and FFN with re-parameterization convolution and feature filter, referred to as RCFT. We evaluate the proposed RCFT tracker and some recent state-of-the-art (SOTA) trackers on OTB100, VOT2018, LaSOT, GOT-10k, UAV123 and the visual-thermal dataset VOT-RGBT2019 datasets, which achieves superior tracking performance with 45 FPS tracking speed.

Remaining useful life prediction for complex systems with multiple indicators of stochastic correlation considering random shocks

The remaining useful life (RUL) prediction in complex systems is subject to complex working conditions, such as overloads, random vibration and shocks, gradual corrosion and wearing, that cause the complex and variable performance degradation of the mechanical system. Accurate prediction of RUL requires the extraction of multiple performance indicators strongly correlated to system degradation. Accordingly, we propose an RUL prediction framework for a multi-indicator system that considers the effects of random shocks and stochastic dependence. First, considering the influence of random shocks and measurement errors, a degradation state-space model is established using the stochastic correlation of multiple performance indicators. Next, the hidden state and unknown parameters of the state-space model are jointly estimated using the expectation–maximization algorithm in conjunction with the strong tracking filter algorithm based on online monitoring data. Subsequently, the probability density function expression of the RUL is derived for a multi-indicator system with three failure modes. Finally, the accuracy of the RUL prediction model is verified for a system affected by random shocks via numerical experiments. Compared with other prediction methods, the effectiveness and adaptability of the proposed method are verified using the C-MAPSS dataset and a high-temperature furnace case.

Self-Tuning Process Noise in Variational Bayesian Adaptive Kalman Filter for Target Tracking

Many practical systems, such as target tracking, navigation systems, autonomous vehicles, and other applications, are usually applied in dynamic conditions. Thus, the actual noise statistics characteristics of these systems are generally time varying and unknown, which will deteriorate the state estimation accuracy of the Kalman filter (KF) and even cause filter diverging. To address this issue, this paper proposes an adaptive process noise covariance (Qk)-based variational Bayesian adaptive Kalman filter (AQ-VBAKF) algorithm. Firstly, the adaptive factor is introduced to self-tune the process noise covariance; the adaptive factor is obtained based on the innovation sequences, which can adapt to the input measurement values. Then, the VB solution is applied to approximate the time variant and unknown measurement noise covariance. Therefore, this proposed algorithm can adjust the process noise covariance and the measurement noise covariance simultaneously based on the variable input signals, which can improve the self-adaptive ability of the state estimation filter in dynamic conditions. According to the dynamic target tracking test results, the proposed AQ-VBAKF outperforms several other existing filtering methods in estimation accuracy, robustness, and computational efficiency.

Robust pedestrian tracking in video sequences using an improved STF module

Object tracking technology based on image processing has made great progress recently. Based on the track-by-detection framework, the tracking algorithms are often combined with deep neural networks to perform online target tracking. However, existing motion models assume linearity and are sensitive to sudden changes in trajectories due to occlusion, overlap, or other detection issues. In this paper, we modified the existing object tracking algorithms and introduced a strong tracking filter (STF) module to the track-by-detection framework for solving the sudden change problem of the target. The STF module is designed to have a strong ability to track sudden changes by orthogonalizing the residual sequence. When the trajectory of the target is stable, the STF module returns to the inactive state, behaving similarly to tracking algorithms that follow conventional linear models. Experimental results on a public pedestrian tracking dataset show that the proposed method improves tracking performance on various metrics, including the ability to rematch missed trajectories. Moreover, compared with existing algorithms, the proposed method exhibits strong stability under noisy conditions.

Adaptive tracking of non-ellipsoidal extended target with varying number of sub-objects based on variational Bayesian

High-resolution sensors make it less difficult to detect the true shape of an extended target, and the method of using a single ellipsoid to approximate the extended state of the target is no longer applicable. We can use multiple ellipsoids to approximate the shape of non-ellipsoidal extended targets, but the method of fixing number of sub-objects again fails due to changes in the target shape. In this work, we propose a novel variational Bayesian adaptive filter for non-ellipsoidal extended target tracking (NETT) with a varying number of sub-objects called VN-NETT-VBAF. The proposed filter is used to estimate the motion, extended states, and mixture probabilities of sub-objects describing a non-ellipsoidal extended target. First, the framework of VN-NETT-VBAF is established based on the spawning and combination of sub-objects. Second, the inverse Gamma (IG) distribution is used to model the unknown measurement noise covariance. Based on the variational Bayesian theory, the joint posterior probability density function (PDF) of the system parameters is iteratively updated to achieve the joint estimation of the extended target state and the measurement noise covariance. Finally, an adaptive forgetting factor is designed to update the noise covariance to further improve the robustness of the algorithm to abrupt noise. The simulation results show that the algorithm in this paper can reasonably change the number of sub-objects to adapt to the change of the target extended state, and effectively deal with the abrupt noise to obtain higher filtering accuracy.

An augmented state Gaussian mixture probability hypothesis density filter for multitarget tracking of autonomous underwater vehicles

Multitarget tracking is an important task for autonomous underwater vehicles (AUVs). Due to the limited space on AUVs, the aperture of the sonar array mounted on an AUV is small. The finite resolution of AUV sonar systems results in weak targets being masked by strong targets when they are close in angular space, leading to the trajectory fracture problem of weak targets in the azimuth crossing scenario. To address this problem, an augmented state Gaussian mixture probability hypothesis density (GM-PHD) filter is proposed. Since the acoustic signals radiated by targets contain some narrowband discrete components (known simply as tonals or lines), we focus on leveraging the tonals to enhance tracking performance. First, we model the augmented state dynamics, which contain both direction-of-arrival (DOA) and tonal components, and DOA tracks can be generated by the augmented state GM-PHD filter. Second, track segments are clustered by the modified density-based spatial clustering of applications with noise (DBSCAN) algorithm according to the estimated tonals. Finally, track segments with the same clustering results are associated with the same target, and the track stitching method is applied to overcome the trajectory fracture problem. The effectiveness of the algorithm is verified by simulation experiments in different scenarios.

Learning Context Restrained Correlation Tracking Filters via Adversarial Negative Instance Generation.

The tracking performance of discriminative correlation filters (DCFs) is often subject to unwanted boundary effects. Many attempts have already been made to address the above issue by enlarging searching regions over the last years. However, introducing excessive background information makes the discriminative filter prone to learn from the surrounding context rather than the target. In this article, we propose a novel context restrained correlation tracking filter (CRCTF) that can effectively suppress background interference via incorporating high-quality adversarial generative negative instances. Concretely, we first construct an adversarial context generation network to simulate the central target area with surrounding background information at the initial frame. Then, we suggest a coarse background estimation network to accelerate the background generation in subsequent frames. By introducing a suppression convolution term, we utilize generative background patches to reformulate the original ridge regression objective through circulant property of correlation and a cropping operator. Finally, our tracking filter is efficiently solved by the alternating direction method of multipliers (ADMM). CRCTF demonstrates the accuracy performance on par with several well-established and highly optimized baselines on multiple challenging tracking datasets, verifying the effectiveness of our proposed approach.

The space-time structure of sound produced by stacked rotors in hover using Vold-Kalman filters and proper orthogonal decomposition

Proper orthogonal decomposition and the Vold-Kalman order tracking filter are combined to evaluate the most energetic components of the sound field produced by a coaxial, co-rotating rotor in hover. The study leverages the database generated by Tinney and Valdez (2020; AIAA J. vol. 58, no. 4) comprising an array of eight stationary microphones oriented to capture the acoustic near-field below the rotor disk plane where ground observers are expected to reside and where concerns over community annoyance are greatest. Changes to rotor conditions focus primarily on rotor speed and index angle (angular separation between the upper and lower rotors), as this has the greatest effect on the sound field produced by stacked rotors by way of the constructive and destructive interference of the sound generated, separately, by the upper and lower rotors. Proper orthogonal decomposition is performed using a kernel constructed from auto and cross-spectral densities of the spatially coherent sound field. The eigenvectors demonstrate the spatial extent of the sound field for discrete frequencies corresponding to the first few blade pass frequency harmonics. In order to improve the clarity and accuracy of the low-order reconstructions, a second generation, Vold-Kalman multi-order tracking filter is employed to isolate discrete frequencies. Relative to conventional spectral filtering methods, the Vold-Kalman filter is performed in the time-domain and is shown to accurately isolate discrete tones while preserving changes to the phase of the signal. Findings from this analysis reveal the effect of index angle on the spatial make-up of the coherent sound field produced by hovering stacked rotors.

MMF-GSTIW-PMBM Adaptive Filter for Multiple Group Target Tracking With Heavy-Tailed Noise

MMF-GSTIW-PMBM Adaptive Filter for Multiple Group Target Tracking With Heavy-Tailed Noise

Track-Oriented Marginal Poisson Multi-Bernoulli Mixture Filter for Extended Target Tracking

Track-Oriented Marginal Poisson Multi-Bernoulli Mixture Filter for Extended Target Tracking

Optimal Information Fusion-Based Strong Tracking Filter for State of Charge Estimation of Lithium-Ion Batteries

State of charge (SOC) plays a crucial role in battery management systems, which is of paramount importance in safety of lithium-ion batteries. However, incorrect charging/discharging, electromagnetic interference, electrochemical rebound characteristics of the battery, or battery faults can lead to sudden and unexpected variations in SOC, posing hazards on systems with lithium-ion batteries. To achieve rapid and accurate tracking of such variations, this paper proposes a robust strong tracking filter based on optimal information fusion, which can address the issue of estimation accuracy degradation caused by the over-adjustment of the fading factor in traditional strong tracking filters, while maintaining strong tracking capability for SOC variations. The effectiveness of the proposed method has been demonstrated by discharge experiments and dynamic stress testing.

A Modified Strong Tracking Adaptive Kalman Filter for Precision Clock Synchronization System

In order to reduce the clock offset caused by network delay jitter, network asymmetry, clock drift and clock frequency difference in the clock synchronization process of IEEE1588, a modified Strong Tracking Adaptive Kalman Filter (MSTAKF) algorithm was proposed. The Kalman filter model established by the algorithm is based on clock offset, network delay, frequency deviation and asymmetry ratio. The filter includes the modified strong tracking algorithm based on fuzzy logic and hypothesis test proposed in this paper, which can effectively eliminate the influence of outliers, and finally make the model tracking effect better. In addition, the modified Sage‐Husa algorithm based on Cholesky decomposition is also included, which makes the measurement noise more stable and ensures the positivity of the measurement noise covariance. The experimental results show that the proposed MSTAKF is smoother than Karman filter (KF), Sage‐Husa adaptive Kalman filter (AKF) and strong tracking Sage‐Husa adaptive Kalman filter (STAKF). Compared with these filter algorithms after testing in the LAN environment, the precision improvement and accuracy rate are significantly improved. © 2023 Institute of Electrical Engineer of Japan and Wiley Periodicals LLC.

Efficient and fast detection of alpha particles using CR-39 detector

The CR-39 track detector was used to create alpha particle tracks using molten hydrated barium hydroxide (MBH). In this experiment, seventeen CR-39 plates with a thickness of 250 μm were used. For determining the bulk etch rate, the rate of the change of track dimeter of fission fragments has been used. The detectors were etched at the suitable etching conditions of MBH, and the track diameters were measured using two suitable image analysis software (Infinity Analyzer and ImageJ). A standard micrometer slit was used to calibrate the images in the field of view of the microscope. The results of this investigation demonstrated that MBH provides significant etching characteristics in addition to shorter etching times and higher etching efficiency for the registration and detection of charged particles of various energies. This work has numerous uses, ranging from plastic nuclear track filters and environmental applications to alpha spectroscopy and neutron detection. Results of sample irradiation, track diameter analysis, sensitivity analysis, and etching efficiency analysis are covered in detail.

Variational Bayesian Algorithms for Maneuvering Target Tracking with Nonlinear Measurements in Sensor Networks.

The variational Bayesian method solves nonlinear estimation problems by iteratively computing the integral of the marginal density. Many researchers have demonstrated the fact its performance depends on the linear approximation in the computation of the variational density in the iteration and the degree of nonlinearity of the underlying scenario. In this paper, two methods for computing the variational density, namely, the natural gradient method and the simultaneous perturbation stochastic method, are used to implement a variational Bayesian Kalman filter for maneuvering target tracking using Doppler measurements. The latter are collected from a set of sensors subject to single-hop network constraints. We propose a distributed fusion variational Bayesian Kalman filter for a networked maneuvering target tracking scenario and both of the evidence lower bound and the posterior Cramér-Rao lower bound of the proposed methods are presented. The simulation results are compared with centralized fusion in terms of posterior Cramér-Rao lower bounds, root-mean-squared errors and the 3σ bound.

Learning dynamic spatial-temporal regularized correlation filter tracking with response deviation suppression via multi-feature fusion

Visual object tracking (VOT) for intelligent video surveillance has attracted great attention in the current research community, thanks to advances in computer vision and camera technology. Meanwhile, discriminative correlation filter (DCF) trackers garnered significant interest owing to their high accuracy and low computing cost. Many researchers have introduced spatial and temporal regularization into the DCF framework to achieve a more robust appearance model and further improve tracking performance. However, these algorithms typically set fixed spatial and temporal regularization parameters, which limit flexibility and adaptability under cluttered and challenging scenarios. To overcome these problems, in this work, we propose a new dynamic spatial–temporal regularization for the DCF tracking model that emphasizes the filter to concentrate on more reliable regions during the training stage. Furthermore, we present a response deviation-suppressed regularization term for responses to encourage temporal consistency and avoid model degradation by suppressing relative response changes between two consecutive frames. Moreover, we introduce a multi-memory tracking framework to exploit various features and each memory contributes to tracking the target across all frames. Significant experiments on the OTB-2013, OTB-2015, TC-128, UAV-123, UAVDT, and DTB-70 datasets have revealed that the performance thereof outperformed many state-of-the-art trackers based on DCF and deep-based frameworks in terms of tracking accuracy and tracking success rate.

Sensor Management with Dynamic Clustering for Bearings-Only Multi-Target Tracking via Swarm Intelligence Optimization

Sensor management is a crucial research subject for multi-sensor multi-target tracking in wireless sensor networks (WSNs) with limited resources. Bearings-only tracking produces further challenges related to high nonlinearity and poor observability. Moreover, energy efficiency and energy balancing should be considered for sensor management in WSNs, which involves networking and transmission. This paper formulates the sensor management problem in the partially observable Markov decision process (POMDP) framework and uses the cardinality-balanced multi-target multi-Bernoulli (CBMeMBer) filter for tracking. A threshold control method is presented to reduce the impact on tracking accuracy when using bearings-only measurements for sequential update. Moreover, a Cauchy–Schwarz divergence center is defined to construct a new objective function for efficiently finding the optimal sensor subset via swarm intelligence optimization. This is also conducive to dynamic clustering for the energy efficiency and energy balancing of the network. The simulation results illustrate that the proposed solution can achieve good tracking performance with less energy, and especially that it can effectively balance network energy consumption and prolong network lifetime.

Design and implementation of analog tracking filter for ac signal acquisition

SummaryThis paper presents an analog tracking bandpass filter that is intended to be applied in ac signal acquisition circuits to reduce measurement noise. A fast and accurate frequency tuning technique is developed based on the phase control loop. A complete derivation process is provided to build the mathematical model describing the control loop for the tracking filter. Accordingly, a zero‐crossing detector is designed to accurately extract signal phases in the proposed loop. As a closed‐loop control system, the loop dynamics such as stability, transient response, and steady‐state error are analyzed using the derived model. From both the simulations and measurements, the developed filter is found to provide excellent performance in frequency tracking, noise reduction, and linearity compared to existing work. The maximum and minimum Q value reaches 42.2 and 14, respectively, in the frequency tuning range of 34 to 107 kHz, while the frequency tracking error is less than 1.18% at 100 kHz.

A Novel Adaptive Robust Cubature Kalman Filter for Maneuvering Target Tracking with Model Uncertainty and Abnormal Measurement Noises.

The features of measurement and process noise are directly related to the optimal performance of the cubature Kalman filter. The maneuvering target model's high level of uncertainty and non-Gaussian mean noise are typical issues that the radar tracking system must deal with, making it impossible to obtain the appropriate estimation. How to strike a compromise between high robustness and estimation accuracy while designing filters has always been challenging. The H-infinity filter is a widely used robust algorithm. Based on the H-infinity cubature Kalman filter (HCKF), a novel adaptive robust cubature Kalman filter (ARCKF) is suggested in this paper. There are two adaptable components in the algorithm. First, an adaptive fading factor addresses the model uncertainty issue brought on by the target's maneuvering turn. Second, an improved Sage-Husa estimation based on the Mahalanobis distance (MD) is suggested to estimate the measurement noise covariance matrix adaptively. The new approach significantly increases the robustness and estimation precision of the HCKF. According to the simulation results, the suggested algorithm is more effective than the conventional HCKF at handling system model errors and abnormal observations.

Towards precise complex AM-FM signals decomposition under strong noise conditions: A novel two-level chirp mode decomposition approach

Many signals in the real world contain noise, which interferes with the analysis of signals. Under harsh environments, the signal will be seriously disturbed by strong noise and overwhelm its changing features. Decomposing the signal with strong noise can effectively reveal the actual change law of original signal. However, the current methods cannot effectively process complex amplitude modulation-frequency modulation (AM-FM) signals with strong noise, and suffer from serious mode aliasing problems. In order to effectively decompose complex AM-FM signals with strong noise, a novel two-level chirp mode decomposition (TCMD) approach is proposed in this paper. TCMD can effectively solve the mode aliasing problem caused by strong noise interference and accurately decompose each sub-signal from original signal with strong noise. TCMD mainly includes two core parts: instantaneous frequency (IF) extraction and signal decomposition. Firstly, we establish a new IF extraction model for strong noise signals called improved parameterized time–frequency transform (IPTFT), which overcomes the shortcomings of current PTFT that cannot effectively handle multi-component signals. IPTFT can effectively filter out the interference of strong noise and accurately extract the initial IFs of multi-component signal. Then, we propose a novel adaptive iterative envelope filter tracking (AIETF) for signal decomposition that adopts the adaptive decomposition idea. AIETF can effectively decompose complex multi-component signals with strong noise, accurately estimate the IFs and reconstruct sub-signals. Decomposition experiments of both simulated and experimental signals with strong noise were carried out to verify proposed TCMD. The results show that TCMD can effectively decompose strong noisy AM-FM signals with close IFs, fast-changing IFs and crossing IFs. Meanwhile, TCMD can also effectively decompose the vibration signals with strong noise of wind turbine gearboxes, aero-engine gearboxes, and faulty bearings under non-stationary conditions to obtain high-quality TFR. Furthermore, TCMD achieves better decomposition effect for strong noise signals than the existing decomposition and TFT methods.