An extension of the Kalman filter algorithm to the multi-channel case is presented and its application as a segmenting procedure in the analysis of the epileptic EEG is discussed. An analytical example of structural analysis, using the segments extracted by the proposed filter, is presented for a particular set of 4-channel EEG recordings. This analysis is shown to be especially fruitful if the autoregressive coefficients - a byproduct of the filtering procedure - are used to estimate the information flow between the channels by the calculation of partial as well as directed coherences for the representative segments.
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http://dx.doi.org/10.1016/0020-7101(87)90021-3 | DOI Listing |
Comput Stat
September 2024
Department of Statistics, Purdue University, West Lafayette, IN 47907.
State estimation for large-scale non-Gaussian dynamic systems remains an unresolved issue, given nonscalability of the existing particle filter algorithms. To address this issue, this paper extends the Langevinized ensemble Kalman filter (LEnKF) algorithm to non-Gaussian dynamic systems by introducing a latent Gaussian measurement variable to the dynamic system. The extended LEnKF algorithm can converge to the right filtering distribution as the number of stages become large, while inheriting the scalability of the LEnKF algorithm with respect to the sample size and state dimension.
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January 2025
College of Mechatronics Engineering, North University of China, Taiyuan 030051, China.
To enhance the positioning accuracy of autonomous underwater vehicles (AUVs), a new adaptive filtering algorithm (RHAUKF) is proposed. The most widely used filtering algorithm is the traditional Unscented Kalman Filter or the Adaptive Robust UKF (ARUKF). Excessive noise interference may cause a decrease in filtering accuracy and is highly likely to result in divergence by means of the traditional Unscented Kalman Filter, resulting in an increase in uncertainty factors during submersible mission execution.
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January 2025
Engineering Design, KTH Royal Institute of Technology, SE-100 44 Stockholm, Sweden.
Topography estimation is essential for autonomous off-road navigation. Common methods rely on point cloud data from, e.g.
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January 2025
Smart Diagnostic and Online Monitoring, Leipzig University of Applied Sciences, Wächterstraße 13, 04107 Leipzig, Germany.
This paper presents a comparative study of different AI models for indoor positioning systems, emphasizing improvements in localization accuracy and processing time. This study examines Artificial Neural Networks (ANNs), Long Short-Term Memory (LSTM), Recurrent Neural Networks (RNNs), and the Kalman filter using a real Received Signal Strength Indicator (RSSI) and 9-axis ICM-20948 sensor. An in-depth analysis is provided in this paper for data cleaning and feature selection to reduce errors for all the models.
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January 2025
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.
This paper proposes a hierarchical framework-based solution to address the challenges of vehicle state estimation and lateral stability control in four-wheel independent drive electric vehicles. First, based on a three-degrees-of-freedom four-wheel vehicle model combined with the Magic Formula Tire model (MF-T), a hierarchical estimation method is designed. The upper layer employs the Kalman Filter (KF) and Extended Kalman Filter (EKF) to estimate the vertical load of the wheels, while the lower layer utilizes EKF in conjunction with the upper-layer results to further estimate the lateral forces, longitudinal velocity, and lateral velocity, achieving accurate vehicle state estimation.
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