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Accurate measurement is an important prerequisite for sound source localization. In the enclosed environments, noise and reverberation tend to cause localization errors. To address these issues, this paper proposes a compound model particle filter algorithm based on multi-feature. Based on a multi-feature observation, the likelihood function of speaker tracking is constructed for particle filter, and multi-hypothesis and frequency selection function are adopted to establish multi-feature optimization mechanism, including time delay selection and beam output energy fusion. It is found that they effectively solved the difficulty in the simultaneous suppression of noise and reverberation by single feature. Moreover, considering the randomness of speaker motion, a compound model for sound source tracking is developed, where the stability of the speaker tracking system is improved by integrating multi-feature observation into the compound model filtering. The experimental results with both simulated and real acoustic data indicate that the proposed method has better tracking performance, compared with the existing ones with low SNR and strong reverberation as well as highly mobile conditions. [ABSTRACT FROM AUTHOR]

A sports auxiliary evaluation system suitable for China's national conditions was established using big data and sports identification technology. First of all, this paper extends the data of normative behavior and constructs a normative library of scores and comparisons. The acquisition of 3D data is emphasized. The method based on Fourier descriptors is used to locate the motion accurately. In this way, better gait recognition results can be obtained. The Fourier characteristics before and after wavelet transform are compared with the actual object characteristics, and the results show that the proposed algorithm can extract the features with high precision. This scheme can obtain a more accurate identification effect. The system proposed in this paper provides a powerful means for judges to score. [ABSTRACT FROM AUTHOR]

This paper proposes an SOC estimation method for lithium battery, which combines the online parameter identification and an improved particle filter algorithm. Targeted at the particle degradation issue in particle filtering, grey wolf optimization is introduced to optimize particle distribution. Its strong global optimization ability ensures particle diversity, effectively suppresses particle degradation, and improves the filtering accuracy. The recursive least square method with forgetting factor is also introduced to update the model parameters in a real-time manner, which further improves the estimation accuracy of SOC alternately with the improved particle filter algorithm. Experimental results validate the proposed method, with an average estimation error less than ±0.15%. Compared with conventional extended Kalman filter and unscented Kalman filter algorithms, the proposed algorithm has higher estimation accuracy and stability for battery SOC estimation. [ABSTRACT FROM AUTHOR]

To address the challenges of low accuracy in indoor positioning caused by factors such as signal interference and visual distortions, this paper proposes a novel method that integrates ultra-wideband (UWB) technology with visual positioning. In the UWB positioning module, the powerful feature-extraction ability of the graph convolutional network (GCN) is used to integrate the features of adjacent positioning points and improve positioning accuracy. In the visual positioning module, the residual results learned from the bidirectional gate recurrent unit (Bi-GRU) network are compensated into the mathematical visual positioning model's solution results to improve the positioning results' continuity. Finally, the two positioning coordinates are fused based on particle filter (PF) to obtain the final positioning results and improve the accuracy. The experimental results show that the positioning accuracy of the proposed UWB positioning method based on a GCN is less than 0.72 m in a single UWB positioning, and the positioning accuracy is improved by 55% compared with the Chan–Taylor algorithm. The proposed visual positioning method based on Bi-GRU and residual fitting has a positioning accuracy of 0.42 m, 71% higher than the Zhang Zhengyou visual positioning algorithm. In the fusion experiment, 80% of the positioning accuracy is within 0.24 m, and the maximum error is 0.66 m. Compared with the single UWB and visual positioning, the positioning accuracy is improved by 56% and 52%, respectively, effectively enhancing indoor pedestrian positioning accuracy. [ABSTRACT FROM AUTHOR]

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WiFi fingerprint-based positioning is a method for indoor localization with the advent of widespread deployment of WiFi and the Internet of Things. However, single WiFi fingerprint positioning has the problems of mismatch, unstable signal strength and limited accuracy. Aiming to address these issues, this paper proposes the fusion algorithm combining WiFi and pedestrian dead reckoning (PDR). Firstly, the particle swarm optimization (PSO) model is utilized to optimize the weighted k-nearest neighbors (WKNN) in the WiFi part. Additionally, the artemisinin optimization (AO) algorithm is used to optimize the particle filter (PF) to improve the fusion effect of the WiFi and PDR. Finally, to thoroughly validate the localization performance of the proposed algorithm, we designed experiments involving two scenarios with four smartphone gestures: calling, dangling, handheld, and pocketed. The experimental results unequivocally indicate that the positioning error of AO-PSO-PF algorithm is lower than that of other algorithms including PDR, WiFi, PF, APF, and FPF. The average positioning errors for the two experiments are 0.95 m and 1.42 m, respectively. [ABSTRACT FROM AUTHOR]

Accurate matching between in-vehicle sensor data and high-definition (HD) maps is crucial to improve the performance of perception and localization of intelligent vehicles. A novel algorithm of HD map matching based on the developed semantic likelihood model (SLM) is proposed to achieve intelligent vehicle localization and object detection simultaneously. First, semantic pavement objects are extracted from front-view images by using U-Net, and SLM is constructed with kernel density estimation (KDE). Under a particle filter framework, the likelihood between the sensor data and HD map is calculated by projecting each sample point from HD map with pose transformation onto SLM to update the weight of each particle. Simultaneously, accurate detection of pavement markings is accomplished by projecting all elements onto the HD map with the computed localization results. In the experiment, data collected on campus and on urban roads are used to validate the proposed algorithm. The experimental results show that the localization errors in both scenarios are about 14 cm, and the mean intersection over union (MIoU) of road marking detection is above 80. The results demonstrate that the proposed algorithm can significantly improve both localization and detection performance by effectively utilizing the prior information of HD maps, compared with the state of the art (SOTA) methods, such as deep learning-based detection methods.

Microscopic modeling of vehicle movements and interactions is pivotal in traffic flow theory. Physics-based car-following (CF) models using mathematical formulations can delineate driving behavior in various traffic conditions with decent interpretability. However, given predetermined mathematical forms, they might fail to characterize complex, highly nonlinear phenomena. Data-driven CF models naturally excel in this regard considering their flexible architectures, but their performance is subject to data quality, especially distribution bias. In this paper, we propose a novel physics-informed particle filter (PIPF) model that fuses and takes advantage of the two approaches. Utilizing the intelligent driver model as the physics-based model and the multioutput Gaussian process regression as the data-driven model, the PIPF model integrates and embeds both models into a particle filter framework, enhancing both model adaptability and accuracy. The performance of the proposed model is examined through both single vehicle and multivehicle numerical experiments using the NGSIM trajectory data set. Compared with physics-based and data-driven models alone, the PIPF model demonstrates a performance improvement in terms of the root mean square error of about 11.16% and 29.43% in scenarios characterized by sparse data and about 19.81% and 3.84% in scenarios with sufficient data. Compared to traditional particle filtering models, the number of particles to achieve optimal results is reduced by 20%, meaning less computational complexity. [ABSTRACT FROM AUTHOR]

Estimating the states of error-growing (sensitive to initial state) cellular automata (CA) based on noisy imperfect data is challenging due to the discreteness of the dynamical system. This paper proposes particle filter (PF)–based data assimilation (DA) for three-state error-growing CA and demonstrates that the PF-based DA can predict the present and future state even with noisy and sparse observations. The error-growing CA used in the present study comprised a competitive system of land, grass, and sheep. To the best of the authors' knowledge, this is the first application of DA to such CA. The performance of DA for different observation sets was evaluated in terms of observational error, density, and frequency, and a series of sensitivity tests of the internal parameters in the DA was conducted. The inflation and localization parameters were tuned according to the sensitivity tests. [ABSTRACT FROM AUTHOR]

Abstract In data assimilation, observations are fused with simulations to obtain an accurate estimate of the state and parameters for a given physical system. Combining data with a model, however, while accurately estimating uncertainty, is computationally expensive and infeasible to run in real-time for complex systems. Here, we present a novel particle filter methodology, the Deep Latent Space Particle filter or D-LSPF, that uses neural network-based surrogate models to overcome this computational challenge. The D-LSPF enables filtering in the low-dimensional latent space obtained using Wasserstein AEs with modified vision transformer layers for dimensionality reduction and transformers for parameterized latent space time stepping. As we demonstrate on three test cases, including leak localization in multi-phase pipe flow and seabed identification for fully nonlinear water waves, the D-LSPF runs orders of magnitude faster than a high-fidelity particle filter and 3-5 times faster than alternative methods while being up to an order of magnitude more accurate. The D-LSPF thus enables real-time data assimilation with uncertainty quantification for the test cases demonstrated in this paper.

In data assimilation, observations are fused with simulations to obtain an accurate estimate of the state and parameters for a given physical system. Combining data with a model, however, while accurately estimating uncertainty, is computationally expensive and infeasible to run in real-time for complex systems. Here, we present a novel particle filter methodology, the Deep Latent Space Particle filter or D-LSPF, that uses neural network-based surrogate models to overcome this computational challenge. The D-LSPF enables filtering in the low-dimensional latent space obtained using Wasserstein AEs with modified vision transformer layers for dimensionality reduction and transformers for parameterized latent space time stepping. As we demonstrate on three test cases, including leak localization in multi-phase pipe flow and seabed identification for fully nonlinear water waves, the D-LSPF runs orders of magnitude faster than a high-fidelity particle filter and 3-5 times faster than alternative methods while being up to an order of magnitude more accurate. The D-LSPF thus enables real-time data assimilation with uncertainty quantification for the test cases demonstrated in this paper. [ABSTRACT FROM AUTHOR]

Robotic platforms including Unmanned Aerial Vehicles (UAVs) require an accurate and reliable source of position information, especially in indoor environments where GNSS cannot be used. This is typically accomplished by using multiple independent position sensors. This paper presents a UAV position estimation mechanism based on a particle filter, that combines information from visual odometry cameras and visual detection of fiducial markers. The article proposes very compact, lightweight and robust method for indoor localization, that can run with high frequency on the UAV's onboard computer. The filter is implemented such that it can seamlessly handle sensor failures and disconnections. Moreover, the filter can be extended to include inputs from additional sensors. The implemented approach is validated on data from real-life UAV test flights, where average position error under 0.4 m was achieved. [ABSTRACT FROM AUTHOR]

Vehicle tracking is one of computer vision's most important applications, with applications ranging from robotics and traffic monitoring to autonomous vehicle navigation and many more. Even with the significant advancements in recent research, issues like occlusion, fluctuating illumination, and fast motion still need to be addressed, calling for more investigation and creativity in this field. This study performs a thorough examination of various vehicle-tracking approaches and suggests a thorough classification scheme that divides them into four main categories: strategies that rely on features, segmentation, estimate, or learning. Two wellknown methods are highlighted specifically in the estimation-based category: particle filters and Kalman filters. [ABSTRACT FROM AUTHOR]

This paper investigates a carrier landing controller for unmanned aerial vehicles (UAVs), and a nonlinear model predictive control (NMPC) approach is proposed considering a precise motion control required under dynamic landing platform and environment disturbances. The NMPC controller adopts constraint aware particle filtering (CAPF) to predict deck positions for disturbance compensation and to solve the nonlinear optimization problem, based on a model establishment of carrier motion and wind field. CAPF leverages Monte Carlo sampling to optimally estimate control variables for improved optimization, while utilizing constraint barrier functions to keep particles within a feasible domain. The controller considers constraints such as fuel optimization, control saturation, and flight safety to achieve trajectory control. The advanced control method enhances the solution, estimating optimal control sequences of UAV and forecasting deck positions within a moving visual field, with effective trajectory tracing and higher control accuracy than traditional methods, while significantly reducing single-step computation time. The simulation is carried out using UAV "Silver Fox", considering several scenarios of different wind scales compared with traditional CAPF–NMPC and the nlmpc method. The results show that the proposed NMPC approach can effectively reduce control chattering, with a landing error in rough marine environments of around 0.08 m, and demonstrate improvements in trajectory tracking capability, constraint performance and computational efficiency. [ABSTRACT FROM AUTHOR]

This paper presents a new method of localizing radio frequency (RF) source in non-line of sight (NLOS) using data collected using the anchor and map. The measurable observation in the unmanned aerial vehicle (UAV) is assumed to be the received signal strength indicator (RSSI), and a method is presented based on the RSSI observation of the reflected signal sent from the anchor to estimate the location of the reflecting obstacle, which is a two-step method for map estimation and localization. It is also assumed that the map of the obstacle location is also available; the location of the reflective obstacle can be obtained using the map with an error. And finally, by combining this data in a weighted and improved particle filter for the optimal use of the number of particles in a wide area, the location of the unknown RF source is estimated more accurately. It was revealed that the proposed method improved localization and had good precision. [ABSTRACT FROM AUTHOR]

Human Activity Recognition (HAR) has emerged as a vital measure of quality of life, holding significant implications for human health. The need for effective mobility monitoring in diverse settings, both indoors and outdoors, necessitates the development of scientific and technological tools. To broaden accessibility, wearable devices like smartphones and smartwatches are commonly employed, leveraging sensor data analysis for valuable insights into user activities. HAR, treated as a classification task, involves training a classifier using sensor data and corresponding activity labels. The classifier aims to automatically recognize and classify various activities in future instances. However, the performance of a generic HAR model trained on a diverse population diminishes significantly when applied to a specific user due to inter-subject variability, encompassing variations in activity patterns, behavioral status, gait, and posture. To address this challenge, we propose an innovative auto-supervised domain adaptation approach based on particle filter theory, aiming to automatically construct a personalized HAR classifier. Our approach integrates multiple steps inspired by the particle filter formalism, enabling iterative approximation of the target distribution through temporal samples to personalize the HAR model for the specific user. In extensive experiments on public HAR datasets, we emphasize the critical role of personalization when deploying an HAR classifier for a new user. The results demonstrate that our framework significantly enhances the accuracy of HAR for new users compared to a non-personalized model, achieving an average improvement of 50% across most datasets. Furthermore, we implement our personalized HAR model on an embedded wearable device, enhancing its accessibility for real-world applications. [ABSTRACT FROM AUTHOR]

In modern radar detection systems, the particle filter technique has become one of the core algorithms for real-time target detection and tracking due to its good nonlinear and non-Gaussian system state estimation capability. However, when dealing with complex dynamic scenes, the traditional particle filter algorithm exposes obvious deficiencies. The main expression is that the sample degradation is serious, which leads to a decrease in estimation accuracy. In multi-target states, the algorithm is difficult to effectively distinguish and stably track each target, which increases the difficulty of state estimation. These problems limit the application potential of particle filter technology in multi-target complex environments, and there is an urgent need to develop a more advanced algorithmic framework to enhance its robustness and accuracy in complex scenes. Therefore, this paper proposes an improved particle filter algorithm for multi-target detection and tracking. Firstly, the particles are divided into tracking particles and searching particles. The tracking particles are used to maintain and update the trajectory information of the target, and the searching particles are used to identify and screen out multiple potential targets in the environment, to sufficiently improve the diversity of the particles. Secondly, the density-based spatial clustering of applications with noise is integrated into the resampling phase to improve the efficiency and accuracy of particle replication, so that the algorithm can effectively track multiple targets. Experimental result shows that the proposed algorithm can effectively improve the detection probability, and it has a lower root mean square error (RMSE) and a stronger adaptability to multi-target situation. [ABSTRACT FROM AUTHOR]

The study of the intricate flight patterns and behaviors of swarm insects, such as drosophilas, has long been a subject of interest in both the biological and computational realms. Tracking drosophilas is an essential and indispensable method for researching drosophilas' behaviors. Still, it remains a challenging task due to the highly dynamic nature of these drosophilas and their partial occlusion in multi-target environments. To address these challenges, particularly in environments where multiple targets (drosophilas) interact and overlap, we have developed a long-term Trajectory 3D Position and Orientation Tracking Method (Long 3D-POT) that combines deep learning with particle filtering. Our approach employs a detection model based on an improved Mask-RCNN to accurately detect the position and state of drosophilas from frames, even when they are partially occluded. Following detection, improved particle filtering is used to predict and update the motion of the drosophilas. To further enhance accuracy, we have introduced a prediction module based on the self-attention backbone that predicts the drosophila's next state and updates the particles' weights accordingly. Compared with previous methods by Ameni, Cheng, and Wang, our method has demonstrated a higher degree of accuracy and robustness in tracking the long-term trajectories of drosophilas, even those that are partially occluded. Specifically, Ameni employs the Interacting Multiple Model (IMM) combined with the Global Nearest Neighbor (GNN) assignment algorithm, primarily designed for tracking larger, more predictable targets like aircraft, which tends to perform poorly with small, fast-moving objects like drosophilas. The method by Cheng then integrates particle filtering with LSTM networks to predict particle weights, enhancing trajectory prediction under kinetic uncertainties. Wang's approach builds on Cheng's by incorporating an estimation of the orientation of drosophilas in order to refine tracking further. Compared with those methods, our method performs with higher accuracy on detection, which increases by more than 10% on the F1 Score, and tracks more long-term trajectories, showing stability. [ABSTRACT FROM AUTHOR]

The problem of weight degradation is inevitable in particle filtering algorithms, and the resampling approach is an important method to reduce the particle degradation phenomenon. To solve the problem of particle diversity loss in existing resampling methods, this paper proposes a new digital twin-based resampling algorithm to improve the accuracy of particle filter estimation based on the traditional resampling algorithm. The digital twin-based resampling algorithm continuously improves the resampling process through the data interaction between the data model and the physical model, and realizes the real-time correction capability of particle weights that traditional resampling methods do not have. The new algorithm calibration rules are divided according to the size of particle weights, with particles of large weights retained and particles of small weights selectively processed. Compared with the traditional resampling algorithm, the new resampling algorithm reduces the mean square error of the particle filter estimation results by 16.62 % , 16.49 % , and 13.86 % , and improves the computing speed by 7.67 % , 2.25 % , and 7.54 % , respectively, in the simulation experiments of nonlinear systems with univariate unsteady state growth model. The algorithm is experimentally demonstrated to accurately track a person in motion in an indoor building in a non-rigid target tracking application, which illustrates the effectiveness and reasonableness of the digital twin-based resampling algorithm. [ABSTRACT FROM AUTHOR]

The advection-diffusion equation is fundamental to modeling various transport phenomena, including the distribution of chemical species in surface or groundwater flow. In cases where the concentration at the source is unknown, inverse problem formulations are required to estimate the desired states by assimilating concentration monitoring data from specific points along the watercourse using a Bayesian approach. This paper proposes a combination of the Eulerian-Lagrangian method and the meshless method of fundamental solutions to solve the advection-diffusion equation. Moreover, the method was used as an evolution model for the sequential importance resampling particle filter algorithm to reconstruct the time-dependent inlet pollutant concentration in inverse problems. Numerical smooth and discontinuous inlet function results show that the particle filter - Eulerian-Lagrangian method of fundamental solutions combination can reconstruct inlet concentration time series. • Verification and validation of ELMFS solution with analytical, FDM and experimental data. • The ELMFS was coupled with sampling importance resampling particle filter for the solution of inverse problem. • The proposed framework is reliable and robust in reconstructing the inlet boundary conditions. [ABSTRACT FROM AUTHOR]

The self-trajectory determination is an effective method to continuously track the target's motion position. However, the traditional methods are relied on auxiliary parameters, which cause the problems of information loss and error accumulation. In order to handle these problems, we propose a direct self-trajectory determination algorithm based on evolutionary particle filter (EPF) for unmanned aerial vehicle (UAV) mounted with an antenna array. Firstly, the array sensing data are eigenvalue decomposed to obtain the observation function and the state transition function is constructed with the process control parameters. Then, particles are distributed randomly around the position of UAV and their weighted values are estimated using the likelihood function derived from the observation function. The resampling algorithm is adopted to select particles with larger values and the position of UAV is determined from these reserved particles. To overcome the decrease in particle diversity, the reserved particles get more dense after mutation and the new particle group for next moment is obtained with the state transition function. In this way, the self-trajectory is iteratively refined with EPF. Finally, the simulation test and the practical experiment based on UAV are conducted to verify that the proposed algorithm is more accurate and more stable when tracking real-time positions of UAV. [ABSTRACT FROM AUTHOR]

In cases where vision is not sufficiently reliable for robots to recognize an object, tactile sensing can be a promising alternative for estimating the object's pose. In this paper, we consider the task of a robot estimating the pose of a container aperture in order to select an object. In such a task, if the robot can determine whether its hand with equipped contact sensor is inside or outside the container, estimation of the object's pose can be improved by reflecting the discrimination to the robotic hand's exploration strategy. We propose an exploration strategy and an estimation method using discrete state recognition on the basis of a particle filter. The proposed method achieves superior estimation in terms of the number of contact actions, operation time, and stability of estimation efficiency. The pose is estimated with sufficient accuracy that the hand can be inserted into the container. [ABSTRACT FROM AUTHOR]

Over the last years, a rapid evolution of unmanned aerial vehicle (UAV) usage in various applications has been observed. Their use in indoor environments requires a precise perception of the surrounding area, immediate response to its changes, and, consequently, a robust position estimation. This paper provides an implementation of navigation algorithms for solving the problem of fast, reliable, and low-cost inventorying in the logistics industry. The drone localization is achieved with a particle filter algorithm that uses an array of distance sensors and an inertial measurement unit (IMU) sensor. Navigation is based on a proportional–integral–derivative (PID) position controller that ensures an obstacle-free path within the known 3D map. As for the full 3D coverage, an extraction of the targets and then their final succession towards optimal coverage is performed. Finally, a series of experiments are carried out to examine the robustness of the positioning system using different motion patterns and velocities. At the same time, various ways of traversing the environment are examined by using different configurations of the sensor that is used to perform the area coverage. [ABSTRACT FROM AUTHOR]

We present an approach to selecting the distributions in sampling-resampling which improves the efficiency of the weighted bootstrap. To complement the standard scheme of sampling from the prior and reweighting with the likelihood, we introduce a reversed scheme, which samples from the (normalized) likelihood and reweights with the prior. We begin with some motivating examples, before developing the relevant theory. We then apply the approach to the particle filtering of time series, including nonlinear and non-Gaussian Bayesian state-space models, a task that demands efficiency, given the repeated application of the weighted bootstrap. Through simulation studies on a normal dynamic linear model, Poisson hidden Markov model, and stochastic volatility model, we demonstrate the gains in efficiency obtained by the approach, involving the choice of the standard or reversed filter. In addition, for the stochastic volatility model, we provide three real-data examples, including a comparison with importance sampling methods that attempt to incorporate information about the data indirectly into the standard filtering scheme and an extension to multivariate models. We determine that the reversed filtering scheme offers an advantage over such auxiliary methods owing to its ability to incorporate information about the data directly into the sampling, an ability that further facilitates its performance in higher-dimensional settings. [ABSTRACT FROM AUTHOR]

For calibrating the measurement error of the speed sensor and estimating the speed accurately while system is nonlinear and noise is non-Gaussian, dual radar and wheel axle sensor are configured and federal particle filter is used to acquire fusion. The whole operation process of CRH3 train from start to stop between two stations is taken as an example, the speed measurement errors of different speed estimation methods under the conditions of train idling, slipping, vibration and the speed sensor with dynamic noise are analyzed and verified. The simulation results show that: The root-mean-square error can be reduced by 31.52% and 47.35% respectively in the idling and sliding stages after the calibration of dual-radar and wheel-axle combination compared with no calibration; Compared with the two types of dual-radar calibration methods, the maximum relative error of the dual-radar separation vibration speed calibration method can be 39.66% lower than that of the dual-radar angle deviation estimation calibration method when the train vibration speed ratio is 0 to 1 and the radar installation angle error is -1° to 1°. Compared with the filtering results of dual radar and axle sensors before fusion, the speed measurement results after using joint particle filtering fusion are 34.71% and 14.03% lower in MAE, and 26.51% and 10.98% lower in RMSE respectively. Compared with federated extended Kalman filter fusion, the root mean square error of velocity measurement using federated particle filter fusion is 26.97% lower and the maximum absolute error can be reduced by 16.10%. [ABSTRACT FROM AUTHOR]

Indoor position fingerprint-based location estimation methods have been widely used by applications on smartphones. In these localization estimation methods, it is very popular to use the RSSI (Received Signal Strength Indication) of signals to represent the position fingerprint. This paper proposes the design of a particle filter for reducing the estimation error of the machine learning-based indoor BLE location fingerprinting method. Unlike the general particle filter, taking into account the distance, the proposed system designs improved likelihood functions, considering the coordinates based on fingerprint points using mean and variance of RSSI values, combining the particle filter with the k-NN (k-Nearest Neighbor) algorithm to realize the reduction in indoor positioning error. The initial position is estimated by the position fingerprinting method based on the machine learning method. By comparing the fingerprint method based on k-NN with general particle filter processing, and the fingerprint estimation method based on only k-NN or SVM (Support Vector Machine), experiment results showed that the proposed method has a smaller minimum error and a better average error than the conventional method. [ABSTRACT FROM AUTHOR]

The estimation of State of Health (SOH) for battery packs used in Electric Vehicles (EVs) is a complex task with significant importance, accompanied by several challenges. This study introduces a data-fusion model approach to estimate the SOH of battery packs. The approach utilizes dual Gaussian Process Regressions (GPRs) to construct a data-driven and non-parametric aging model based on charging-based Aging Features (AFs). To enhance the accuracy of the aging model, a noise model is established to replace the random noise. Subsequently, the state-space representation of the aging model is incorporated. Additionally, the Particle Filter (PF) is introduced to track the unknown state in the aging model, thereby developing the data-fusion-model for SOH estimation. The performance of the proposed method is validated through aging experiments conducted on battery packs. The simulation results demonstrate that the data-fusion model approach achieves accurate SOH estimation, with maximum errors less than 1.5%. Compared to conventional techniques such as GPR and Support Vector Regression (SVR), the proposed method exhibits higher estimation accuracy and robustness.

Accurately estimating the state of health (SOH) of lithium-ion batteries is of great significance in ensuring the safe operation of the battery system. Addressing the issue where traditional SOH estimation methods fail under variable working conditions, an online SOH estimation method for lithium-ion batteries based on equivalent circuit model (ECM) and sparse Gaussian process regression (SGPR) is proposed. During the constant current charging process, the parameters of the ECM of lithium-ion battery are dynamically identified by two online filters, based on which, a condition-insensitive health indicator is constructed. In combination with the SGPR, the indirect SOH estimation is achieved. This method uses the unified signal processing method and feature mapping model under various working conditions, and features strong robustness with low redundancy. The experimental results show that the average absolute error of the method proposed under various working conditions does not exceed 0.94%, and the root mean square error stays below 1.12%. When benchmarked against existing methods, this method has significant advantages in comprehensive performance.

Due to the difficulties of filter initialization and packet loss in underwater acoustic data transmission faced by existing bearing-only target tracking algorithms, a multi-unmanned undersea vehicle(UUV) collaborative bearing-only target tracking algorithm based on boundary constrained particle filter was proposed, so as to meet the demand for multi-UUV collaborative detection of water surface targets in cross-domain collaboration at sea. Firstly, a master-slave collaborative detection model was proposed, which utilized the follower to report the state estimation results to the navigator for data fusion. Secondly, based on the prior information of UUV sensors and targets, a reliable particle generation method for the initial stage and a particle weight optimization method for the indicator function in the update stage were designed. Finally, a distributed fusion algorithm based on gray prediction was proposed to obtain the target prediction results. The simulation experiment compared this algorithm with other common algorithms and verified its effectiveness and feasibility under communication packet loss and noise interference.

Bảo trì dự đoán là một hướng đi mới nhằm đảm bảo hiệu quả hoạt động của hệ thống sản xuất. Đối với bảo trì dự đoán, giám sát tình trạng hư hỏng của thiết bị có vai trò quan trọng trong lập kế hoạch bảo trì thiết bị. Tuy nhiên, các cảm biến dùng để giám sát tình trạng thiết bị cũng hư hỏng theo thời gian. Khi cảm biến hư hỏng, nó cung cấp thông tin sai lệch về mức độ hư hỏng và dự đoán tuổi thọ của thiết bị. Hậu quả là nó dẫn đến ra quyết định bảo trì không chính xác. Để giải quyết vấn đề này, Particle filter được ứng dụng để ước lượng tình trạng hư hỏng và dự đoán tuổi thọ dựa vào dữ liệu được đo bởi cảm biến. Phương pháp này hoạt động như một bộ lọc Bayesian, sử dụng lý thuyết Bayesian để ước lượng trạng thái hệ thống. Một số ví dụ được thực hiện để chứng minh tính hiệu quả của phương pháp này. Kết quả cho thấy Particle filter nâng cao đáng kể tính chính xác của ước lượng trạng thái của hệ thống.

Abstract Reliable urban navigation using global navigation satellite system requires accurately estimating vehicle position despite measurement faults and monitoring the trustworthiness (or integrity) of the estimated location. However, reflected signals in urban areas introduce biases (or faults) in multiple measurements, while blocked signals reduce the number of available measurements, hindering robust localization and integrity monitoring. This paper presents a novel particle filter framework to address these challenges. First, a Bayesian fault-robust optimization task, formulated through a Gaussian mixture model (GMM) measurement likelihood, is integrated into the particle filter to mitigate faults in multiple measurement for enhanced positioning accuracy. Building on this, a novel test statistic leveraging the particle filter distribution and the GMM likelihood is devised to monitor the integrity of the localization by detecting errors exceeding a safe threshold. The performance of the proposed framework is demonstrated on real-world and simulated urban driving data. Our localization algorithm consistently achieves smaller positioning errors compared to existing filters under multiple faults. Furthermore, the proposed integrity monitor exhibits fewer missed and false alarms in detecting unsafe large localization errors.

The sequential Monte Carlo, also called the Bayesian particle filter, approximates a posterior probability density function of a latent target state from noisy sensor measurements using a set of Monte Carlo samples. These samples are predicted using an importance density function and then updated using the Bayes’s rule. The updated samples and their corresponding weights provide an estimate of the latent state. The said filtering process is iterated over time for tracking dynamic target states. It is critical to have enough particles in regions of the target state space that contribute to the posterior. The auxiliary and the improved auxiliary particle filters accomplish this by a process that mimics drawing from an importance density that leverages the incoming observation into the sampling step. However these filters are known to fail when the sensor measurements are highly informative and the diffusion over the state transition is large. This paper presents an improvement to the auxiliary particle filter by taking two support points that act as limits in a univariate state space within which particles are samples. The choice of the limits is adaptive. The proposed method is successfully tested using a nonlinear model using simulations. [ABSTRACT FROM AUTHOR]

This study introduces a fault diagnosis algorithm based on particle filtering for open-cycle liquid-propellant rocket engines (LPREs). The algorithm serves as a model-based method for the startup process, accounting for more than 30% of engine failures. Similar to the previous fault detection and diagnosis (FDD) algorithm for the startup process, the algorithm in this study is composed of a nonlinear filter to generate residuals, a residual analysis, and a multiple-model (MM) approach to detect and diagnose faults from the residuals. In contrast to the previous study, this study makes use of the modified cumulative sum (CUSUM) algorithm, widely used in change-detection monitoring, and a particle filter (PF), which is theoretically the most accurate nonlinear filter. The algorithm is confirmed numerically using the CUSUM and MM methods. Subsequently, the FDD algorithm is compared with an algorithm from a previous study using a Monte Carlo simulation. Through a comparative analysis of algorithmic performance, this study demonstrates that the current PF-based FDD algorithm outperforms the algorithm based on other nonlinear filters. [ABSTRACT FROM AUTHOR]

This paper presents an attempt at assimilating clear-sky FY-4A Advanced Geosynchronous Radiation Imager (AGRI) radiances from two water vapor channels for the prediction of three landfalling typhoon events over the West Pacific Ocean using the 3DVar data assimilation (DA) method along with the WRF model. A channel-sensitive cloud detection scheme based on the particle filter (PF) algorithm is developed and examined against a cloud detection scheme using the multivariate and minimum residual (MMR) algorithm and another traditional cloud mask–dependent cloud detection scheme. Results show that both channel-sensitive cloud detection schemes are effective, while the PF scheme is able to reserve more pixels than the MMR scheme for the same channel. In general, the added value of AGRI radiances is confirmed when comparing with the control experiment without AGRI radiances. Moreover, it is found that the analysis fields of the PF experiment are mostly improved in terms of better depicting the typhoon, including the temperature, moisture, and dynamical conditions. The typhoon track forecast skill is improved with AGRI radiance DA, which could be explained by better simulating the upper trough. The impact of assimilating AGRI radiances on typhoon intensity forecasts is small. On the other hand, improved rainfall forecasts from AGRI DA experiments are found along with reduced errors for both the thermodynamic and moisture fields, albeit the improvements are limited. [ABSTRACT FROM AUTHOR]

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