Sökning: "Kalman smoothing"

Visar resultat 1 - 5 av 12 avhandlingar innehållade orden Kalman smoothing.

  1. 1. Precise kinematic GPS positioning with Kalman filtering and smoothing

    Författare :Patric Jansson; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES;

    Sammanfattning : The Global Positioning System (GPS) has proven to be auseful tool for the determination of positions of a widevariety of moving platforms to accuracies in the order of a fewcentimetres. One of the critical aspects of precise kinematicGPS positioning at the centimetre level is the determination ofinteger carrier phase cycle ambiguities. LÄS MER

  3. 2. Channel Estimation and Prediction for 5G Applications

    Författare :Rikke Apelfröjd; Mikael Sternad; Emil Björnson; Uppsala universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Channel estimation; Channel prediction; Channel smoothing; Linear estimation; Kalman filter; Massive MIMO; Coordinated Multipoint transmission; Robust precoding; Predictor antennas; Limits of predictability; Long range predictions; Electrical Engineering with specialization in Signal Processing; Elektroteknik med inriktning mot signalbehandling;

    Sammanfattning : Accurate channel state information (CSI) is important for many candidate techniques of future wireless communication systems. However, acquiring CSI can sometimes be difficult, especially if the user equipment is mobile in which case the future channel realisations must be estimated/predicted. LÄS MER

  4. 3. Inertial Navigation and Mapping for Autonomous Vehicles

    Författare :Martin Skoglund; Fredrik Gustafsson; Thomas Schön; Tim Bailey; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; SLAM; Inertial Navigation; Filtering; Smoothing; Cameras; Optimisation; Autonomous;

    Sammanfattning : Navigation and mapping in unknown environments is an important building block for increased autonomy of unmanned vehicles, since external positioning systems can be susceptible to interference or simply being inaccessible. Navigation and mapping require signal processing of vehicle sensor data to estimate motion relative to the surrounding environment and to simultaneously estimate various properties of the surrounding environment. LÄS MER

  5. 4. Toward Sequential Data Assimilation for NWP Models Using Kalman Filter Tools

    Författare :Jelena Bojarova; Rolf Sundberg; Krzysztof Podgorski; Stockholms universitet; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; non-Gaussian state space models; Kalman filtering; ETKF; 3D-Var; data assimilation; NWP; Mathematical statistics; Matematisk statistik; matematisk statistik; Mathematical Statistics;

    Sammanfattning : The aim of the meteorological data assimilation is to provide an initial field for Numerical Weather Prediction (NWP) and to sequentially update the knowledge about it using available observations. Kalman filtering is a robust technique for the sequential estimation of the unobservable model state based on the linear regression concept. LÄS MER

  7. 5. Data Filtering and Control Design for Mobile Robots

    Författare :Maja Karasalo; Xiaoming Hu; John Baras; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; formation control; tracking; nonlinear control; optimal smoothing; adaptive filtering; Optimization; systems theory; Optimeringslära; systemteori;

    Sammanfattning : In this thesis, we consider problems connected to navigation and tracking for autonomousrobots under the assumption of constraints on sensors and kinematics. We study formation controlas well as techniques for filtering and smoothing of noise contaminated input. The scientific contributions of the thesis comprise five papers. LÄS MER