In this paper, a six-dimensional (6D) Simultaneous Localization and Mapping (SLAM) based on novel Linear Regression Kalman Filter (LRKF), called Smart Sampling Kalman Filter (S2KF), is proposed. While the conventional feature based SLAM methods use point features as landmarks, only a few take the advantage of geometric information like corners, edges, and planes. A feature based SLAM method usi...

In 1960, Rudolf E. Kalman created what is known as the Kalman filter, which is a way to estimate unknown variables from noisy measurements. The algorithm follows the logic that if the previous state of the system is known, it could be used as the best guess for the current state. This information is first applied a priori to any measurement by using it in the underlying dynamics of the system. ...

Precise underwater navigation is crucial in a number of marine applications. Navigation of most autonomous underwater vehicles (AUVs) is based on inertial navigation. Such navigation systems drift off with time and external fixes are needed. This paper concentrates on one such method, namely terrain based navigation, where position fixes are found by comparing measurements with a prior map. Non...

An accurate state of charge (SOC) estimation is of great importance for the battery management systems of electric vehicles. To improve the accuracy and robustness of SOC estimation, lithium-ion battery SOC is estimated using an adaptive square root unscented Kalman filter (ASRUKF) method. The square roots of the variance matrices of the SOC and noise can be calculated directly by the ASRUKF al...

In this paper, an improved Precise Point Positioning GPS/MEMS-based integrated system is introduced for precise positioning applications. Un-differenced ionosphere-free linear combinations of carrier phase and code measurements are processed. Tropospheric delay, satellite clock, ocean loading, Earth tide, carrier-phase windup, relativity, and satellite and receiver antenna phase-center variatio...

This paper addresses the state-estimation problem for nonlinear systems for the case in which prior knowledge is available in the form of interval constraints on the states. Approximate solutions to this problem are reviewed and compared with new algorithms. All the algorithms investigated are based on the unscented Kalman filter. Two illustrative examples of chemical processes are discussed. N...

This work is related to interfacial phase bounadry estimation in sedimentation monitoring using electrical impedance tomography. The fluid is assumed to settle into three different phases separated by sharp interfacial boundary. The time evolution of the phase interface gives important information about the sedimentation process which can be used to control and optimize the sedimentation proces...

This paper deals with spacecraft autonomous navigation in deep space missions. The considered problem is that of spacecraft localization based on angular measurements. The dynamic model of the spacecraft accounts for several perturbing effects, such as Earth and Moon gravitational field asymmetry and errors associated with the Moon ephemerides. The measurement process is based on elevation and ...