Snake robots are highly articulated mechanisms that can thread through tightly packed volumes and access locations that people and machinery otherwise cannot access. These devices come in many forms, including locomoting snakes whose internal undulations allow them to maneuver in difficult to negotiate terrains, as well as fixed-base elephant trunks or probes that can reach into cluttered spaces with minimal invasion. The proposed work focuses on the latter of these devices as they have many...

Topics: DTIC Archive, Choset,Howard, robots, technology transfer, surgical equipment, control systems,...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

This paper reviews the algorithms used by statisticians for obtaining efficient estimators of the parameters of a univariate autoregressive moving average (ARMA) time series. The connection of the estimation problem with the problem of prediction is investigated with particular emphasis on the Kalman filter and modified Cholesky decomposition algorithms. A result from prediction theory is given which provides a significant reduction in the computations needed in Ansley's (1979) estimation...

Topics: DTIC Archive, Newton,H Joseph, TEXAS A AND M UNIV COLLEGE STATION INST OF STATISTICS, *TIME SERIES...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Two modifications are described which have been developed for the single-target ship tracking algorithm of NRL Report 7969 and NRL Memorandum Report 3991. One modification improves the tracking response to strong target maneuvers, and the other allows the use of reports giving target bearing only. (Author)

Topics: DTIC Archive, Willman,W W, NAVAL RESEARCH LAB WASHINGTON DC, *ALGORITHMS, *TRACKING, *OCEAN...

Due to uncertainty in target locations, stochastic models are implemented to provide a representation of location distribution. The reliability of these models has a profound effect on the ability to successfully interdict these targets. A key factor in the reliability of a model is the incorporation of information updates. A common method for incorporating information updates is Kalman filtering. However, given the probable nonlinear and non-Gaussian nature of target movement models, the...

Topics: DTIC Archive, Nunez,Jesse A, Naval Postgraduate School Monterey United States, Simulations,...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

This report discusses, in general, least-squares tracking algorithms and in particular the maximum likelihood estimator (MLE). Its primary concern is a detailed error analysis both from a deterministic point of view (sensitivity study) and a stochastic viewpoint (state variable covariance matrix). The latter results are shown to be equivalent to a Cramer-Rao bound, and their relationship to Kalman filters is cited. Various subtleties of interpretation are discussed including several theorems on...

Topics: DTIC Archive, Shensa,M J, NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA, *ALGORITHMS, *TRACKING, *ERROR...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

Improved accuracies must be maintained with the system operated along any trajectory in a ground vehicle or helicopter. The most important performance parameter is deflection of the vertical. This paper reports the results of the gravity improvement study. It addresses hardware, software and operational procedure aspects. Supporting data are provided for the assessment of current performance. On-line and off-line data reduction and analysis are considered. The rather interesting application of...

Topics: DTIC Archive, Adams, Gary W, HONEYWELL INC ST PETERSBURG FL, *INERTIAL NAVIGATION, *ELECTRICALLY...

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Mar 20, 2020
03/20

Mar 20, 2020
by
James V. Candy

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Signal Processing: The Model-based Approach by James V. Candy

Topics: Linear Systems, Signal processing, Signal filtering, state space methods, Kalman Filtering, signal...

[21], 191 leaves ; 28 cm

Topics: Kalman filtering, Observers (Control theory), Automatic control

Nonlinear estimators based on the Kalman filter, the extended Kalman filter (EKF) and unscented Kalman filter (UKF) are commonly used in practical application. The Kalman filter is an optimal estimator for linear systems; the EKF and UKF are sub-optimal approximations of the Kalman filter. The EKF uses a first-order Taylor series approximation to linearize nonlinear models; the UKF uses an approximation of the states joint probability distribution. Long measurement intervals exacerbate...

Topics: DTIC Archive, Frontera,Paul J, NAVAL POSTGRADUATE SCHOOL MONTEREY CA MONTEREY United States, kalman...

Cameras, inertial measurement units (IMUs), and computational power have all become practical, and the demand for small and efficient navigation systems that do not rely on external infrastructure such as GPS is high. Combining visual information with inertial sensing is a challenging problem. The optimal-state-constraint extended Kalman filter (OSC-EKF) is a new method previously designed to optimally combine relative pose constraints from a monocular camera with the output of an IMU. This...

Topics: DTIC Archive, Maley,James M, US Army Research Laboratory Aberdeen Proving Ground United States,...

The problem of accurately replicating the parameters which define a given system for the purposes of implementing modern control strategies is important. Using an Autoregressive-Moving Average (ARMA) representation for the unknown system, a model is identified by processing input/output data to estimate the coefficients associated with the ARMA equation. Identification of unknown system parameters using Kalman filtering methods was accomplished by augmenting the state vector. In this thesis the...

Topics: DTIC Archive, Mayoral,Leopoldo M, NAVAL POSTGRADUATE SCHOOL MONTEREY CA, *KALMAN FILTERING,...

The problem of accurately replicating the parameters which define a given system for the purposes of implementing modern control strategies is important. Using an Autoregressive-Moving Average (ARMA) representation for the unknown system, a model is identified by processing input/output data to estimate the coefficients associated with the ARMA equation. Identification of unknown system parameters using Kalman filtering methods was accomplished by augmenting the state vector. In this thesis the...

Topics: DTIC Archive, Mayoral,Leopoldo M, NAVAL POSTGRADUATE SCHOOL MONTEREY CA, *KALMAN FILTERING,...

The problem of accurately replicating the parameters which define a given system for the purposes of implementing modern control strategies is important. Using an Autoregressive-Moving Average (ARMA) representation for the unknown system, a model is identified by processing input/output data to estimate the coefficients associated with the ARMA equation. Identification of unknown system parameters using Kalman filtering methods was accomplished by augmenting the state vector. In this thesis the...

Topics: DTIC Archive, Mayoral,Leopoldo M, NAVAL POSTGRADUATE SCHOOL MONTEREY CA, *KALMAN FILTERING,...

The problem of accurately replicating the parameters which define a given system for the purposes of implementing modern control strategies is important. Using an Autoregressive-Moving Average (ARMA) representation for the unknown system, a model is identified by processing input/output data to estimate the coefficients associated with the ARMA equation. Identification of unknown system parameters using Kalman filtering methods was accomplished by augmenting the state vector. In this thesis the...

Topics: DTIC Archive, Mayoral,Leopoldo M, NAVAL POSTGRADUATE SCHOOL MONTEREY CA, *KALMAN FILTERING,...