Adaptive Extended Kalman Filter using Exponencial Moving Average

Silva, Jean Gonzalez; Filho, José Oniram de Aquino Limaverde; Fortaleza, Eugênio

doi:10.1016/j.ifacol.2018.11.106

Cited by 10 publications

(3 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Clock skew is defined as the difference in the register update rate (loop rate) at both the FCU and companion computer. The offset and clock skew are estimated using an exponential moving average filter, as described in [19,20]:…”

Section: Latency Assessmentmentioning

confidence: 99%

Latency Reduction and Packet Synchronization in Low-Resource Devices Connected by DDS Networks in Autonomous UAVs

Silva Cotta,

Agar,

Bertaska

et al. 2023

Sensors

View full text Add to dashboard Cite

Real-time flight controllers are becoming dependent on general-purpose operating systems, as the modularity and complexity of guidance, navigation, and control systems and algorithms increases. The non-deterministic nature of operating systems creates a critical weakness in the development of motion control systems for robotic platforms due to the random delays introduced by operating systems and communication networks. The high-speed operation and sensitive dynamics of UAVs demand fast and near-deterministic communication between the sensors, companion computer, and flight control unit (FCU) in order to achieve the required performance. In this paper, we present a method to assess communications latency between a companion computer and an RTOS open-source flight controller, which is based on an XRCE-DDS bridge between clients hosted in the low-resource environment and the DDS network used by ROS2. A comparison based on the measured statistics of latency illustrates the advantages of XRCE-DDS compared to the standard communication method based on MAVROS-MAVLink. More importantly, an algorithm to estimate latency offset and clock skew based on an exponential moving average filter is presented, providing a tool for latency estimation and correction that can be used by developers to improve synchronization of processes that rely on timely communication between the FCU and companion computer, such as synchronization of lower-level sensor data at the higher-level layer. This addresses the challenges introduced in GNC applications by the non-deterministic nature of general-purpose operating systems and the inherent limitations of standard flight controller hardware.

show abstract

Section: Latency Assessmentmentioning

confidence: 99%

Latency Reduction and Packet Synchronization in Low-Resource Devices Connected by DDS Networks in Autonomous UAVs

Silva Cotta,

Agar,

Bertaska

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…The matrix Q has been chosen such that consistence of innovations is obtained, as explained in Section 4.3, which supposes the availability of data from the estimation process that can be used for re-tuning matrix Q. This re-tuning can be performed during the first sample times, as recently proposed in [28]. Remember that, in order to reach the consistence of innovations, the actual innovation variances have to be smaller or equal to those provided by the estimated innovation covariance matrix computed using 32.…”

Section: A Numerical Examplementioning

confidence: 99%

Deterioration estimation for predicting and controlling RUL of a friction drive system

2021

View full text Add to dashboard Cite

“…In this study, the exponential moving average has been used to predict the average and logarithmic reference of the intensity of the machine beats. This analysis has also been applied to the Kalman filter [21]. Such research has presented a new adaptive extended Kalman filter for nonlinear discrete-time systems that handles variations in noise covariance.…”

Section: Introductionmentioning

confidence: 99%

The Best K-Exponential Moving Average with Missing Values: Gold Prices in Indonesia, Saudi Arabia, and Turkey during COVID-19

Mubarak

Aslanargun

Şiklar

2022

icdsos

View full text Add to dashboard Cite

There have been missing values in the gold price data for Indonesia, Saudi Arabia, and Turkey at the weekend so that imputation techniques have been carried out to solve this problem. The imputation method of replacing NAs with the latest non-NA values also known as last observation carried forward (LOCF) made it a solution to overcome the missing values. This study selected the best -exponential moving average based on the smallest mean absolute percentage error (MAPE) from simulations. The 2-exponential moving average analysis was the best analysis for the price of gold which has missing values in Indonesia, Saudi Arabia, and Turkey during COVID-19, while the largest MAPE values are different for each country.

show abstract

Adaptive Extended Kalman Filter using Exponencial Moving Average

Cited by 10 publications

References 6 publications

Latency Reduction and Packet Synchronization in Low-Resource Devices Connected by DDS Networks in Autonomous UAVs

Latency Reduction and Packet Synchronization in Low-Resource Devices Connected by DDS Networks in Autonomous UAVs

Deterioration estimation for predicting and controlling RUL of a friction drive system

The Best K-Exponential Moving Average with Missing Values: Gold Prices in Indonesia, Saudi Arabia, and Turkey during COVID-19

Contact Info

Product

Resources

About