Wyniki wyszukiwania - BazTech

1

System nawigacji personalnej oparty na modułach ultraszerokopasmowych

Pasek Przemysław, Kaniewski Piotr

Elektronika : konstrukcje, technologie, zastosowania

|

2019

|

Vol. 60, nr 3

24--27

PL

W artykule opisano system nawigacji personalnej wykorzystujący moduły ultraszerokopasmowe, umożliwiające określanie położenia użytkownika wewnątrz budynków. Wielkościami wykorzystywanymi do pozycjonowania są odległości pomiędzy mobilnym modułem użytkownika, a czterema stacjami bazowymi wchodzącymi w skład systemu. Przedstawiono wybrane aspekty realizacji poszczególnych komponentów systemu, użyte podzespoły, algorytmy pozycjonujące oraz wyniki badań eksperymentalnych.

EN

The paper describes personal navigation system, using Ultra-Wideband (UWB) modules, enabling determination of user position inside buildings. Quantities used for positioning are ranges between the mobile user’s module and four beacons which are used in the system. Selected aspects of implementation of individual system components, used parts, positioning algorithms and results of experiments are presented.

2

SMAC-FDI: A single model active fault detection and isolation system for unmanned aircraft

Ducard G. J. J.

International Journal of Applied Mathematics and Computer Science

|

2015

|

Vol. 25, no. 1

189--201

EN

This article presents a single model active fault detection and isolation system (SMAC-FDI) which is designed to efficiently detect and isolate a faulty actuator in a system, such as a small (unmanned) aircraft. This FDI system is based on a single and simple aerodynamic model of an aircraft in order to generate some residuals, as soon as an actuator fault occurs. These residuals are used to trigger an active strategy based on artificial exciting signals that searches within the residuals for the signature of an actuator fault. Fault isolation is carried out through an innovative mechanism that does not use the previous residuals but the actuator control signals directly. In addition, the paper presents a complete parameter-tuning strategy for this FDI system. The novel concepts are backed-up by simulations of a small unmanned aircraft experiencing successive actuator failures. The robustness of the SMAC-FDI method is tested in the presence of model uncertainties, realistic sensor noise and wind gusts. Finally, the paper concludes with a discussion on the computational efficiency of the method and its ability to run on small microcontrollers.

3

Model-based techniques for virtual sensing of longitudinal flight parameters

Hardier G., Seren C., Ezerzere P.

International Journal of Applied Mathematics and Computer Science

|

2015

|

Vol. 25, no. 1

23--38

EN

Introduction of fly-by-wire and increasing levels of automation significantly improve the safety of civil aircraft, and result in advanced capabilities for detecting, protecting and optimizing A/C guidance and control. However, this higher complexity requires the availability of some key flight parameters to be extended. Hence, the monitoring and consolidation of those signals is a significant issue, usually achieved via many functionally redundant sensors to extend the way those parameters are measured. This solution penalizes the overall system performance in terms of weight, maintenance, and so on. Other alternatives rely on signal processing or model-based techniques that make a global use of all or part of the sensor data available, supplemented by a model-based simulation of the flight mechanics. That processing achieves real-time estimates of the critical parameters and yields dissimilar signals. Filtered and consolidated information is delivered in unfaulty conditions by estimating an extended state vector, including wind components, and can replace failed signals in degraded conditions. Accordingly, this paper describes two model-based approaches allowing the longitudinal flight parameters of a civil A/C to be estimated on-line. Results are displayed to evaluate the performances in different simulated and real flight conditions, including realistic external disturbances and modeling errors.

4

An SFDI observer-based scheme for a general aviation aircraft

Ariola M., Mattei M., Notaro I., Corraro F., Sollazzo A.

International Journal of Applied Mathematics and Computer Science

|

2015

|

Vol. 25, no. 1

149--158

EN

The problem of detecting and isolating sensor faults (sensor fault detection and isolation—SFDI) on a general aviation aircraft, in the presence of external disturbances, is considered. The proposed approach consists of an extended Kalman observer applied to an augmented aircraft plant, where some integrators are added to the output variables subject to faults. The output of the integrators should be ideally zero in the absence of model uncertainties, external disturbances and sensor faults. A threshold-based decision making system is adopted where the residuals are weighted with gains coming from the solution to an optimization problem. The proposed nonlinear observer was tested both numerically on a large database of simulations in the presence of disturbances and model uncertainties and on input-output data recorded during real flights. In this case, the possibility of successfully applying the proposed technique to detect and isolate faults on inertial and air data sensors, modelled as step or ramp signals artificially added to the real measurements, is shown.

5

Ekstrakcja sygnałów w wibrodiagnostyce pojazdów

Puchalski A.

Przegląd Mechaniczny

|

2014

|

nr 11

34--38

PL

W pracy przedstawiono nowe, autorskie podejście do analizy informacji pochodzących z diagnostycznych systemów monitorujących sygnały przyspieszenia drgań na przykładzie pojazdów. Przedmiotem badań i eksperymentów były układy stochastyczne o losowym przebiegu procesu i pomiaru oraz zakłóceniach mających postać szumów białych Gaussa. Zaproponowano oryginalne rozwiązania łączące filtrację modelową Kalmana z metodami podprzestrzeni obserwacji, prowadzące do utworzenia residuów statystycznych i miar detekcji uszkodzeń. Przydatność opracowanej metodyki zweryfikowano w czasie testów obejmujących różne stany spotykane w eksploatacji układów zaworowych silnika ZI.

EN

The paper presents a new approach to the analysis of information derived from the monitoring systems of vibrations accelerations signal: the case of vehicles. The subject of the research and experiments were stochastic systems with process and measurement uncertainty modeled by white Gaussian noises. The novel solution that combines Kalmahs filtering with the observation subspace methods which leads to the generation of residuals and indexes of faults detection was proposed in the paper The technique was verified during experimental tests of different maintenance states of valve systems of the SI engine.

6

Wybrane algorytmy wygładzania w aplikacjach nawigacyjnych

Gil R., Kaniewski P.

Pomiary Automatyka Kontrola

|

2014

|

R. 60, nr 9

726--728

PL

W artykule przedstawiono wyniki badań algorytmów wygładzania w układzie liniowym dyskretnym. Przeprowadzone badania pozwoliły na wyznaczenie błędów średniokwadratowych (RMS) położenia dla systemu z filtrem Kalmana oraz optymalnym estymatorem wygładzającym. Zaprezentowano jakościową poprawę, redukcję błędu RMS, oceny stanu układu wynikającą z zastosowania wygładzania. Przeprowadzone badania potwierdziły wartość użytkową algorytmów wygładzania.

EN

The paper presents the results of testing smoothing algorithms for a linear discrete system. Three types of smoothing algorithms are analyzed in the paper: fixed-interval smoothing, fixed-point smoothing, fixed-lag smoothing. The performance of the above smoothing algorithms was experimentally tested for a selected system model. There was assumed the dynamics model called in the literature as PVA (Position-Velocity-Acceleration). It describes the rate of change in the position, velocity and acceleration of the object in time. The research allowed determining the root mean square errors (RMS) of the position for a system with Kalman filter and the optimal smoothing estimator. It was shown that the use of smoothing improved the estimation of the state of the system significantly. The quality improvement, that is the decrease in the RMS errors of the system state estimates as a result of using smoothing algorithms, is presented in the paper. The investigations performed proved the usefulness of smoothing algorithms. The obtained results allowed determining the level of improvement in the state estimation when using the optimal smoothing estimators. Moreover, there was shown the improvement in the estimation accuracy with the increase in the time interval between the instants of state estimation and measurement.

7

Asynchronous distributed state estimation for continuous-time stochastic processes

Kowalczuk Z., Domżalski M.

International Journal of Applied Mathematics and Computer Science

|

2013

|

Vol. 23, no. 2

327--339

EN

The problem of state estimation of a continuous-time stochastic process using an Asynchronous Distributed multi-sensor Estimation (ADE) system is considered. The state of a process of interest is estimated by a group of local estimators constituting the proposed ADE system. Each estimator is based, e.g., on a Kalman filter and performs single sensor filtration and fusion of its local results with the results from other/remote processors to compute possibly the best state estimates. In performing data fusion, however, two important issues need to be addressed namely, the problem of asynchronism of local processors and the issue of unknown correlation between asynchronous data in local processors. Both the problems, along with their solutions, are investigated in this paper. Possible applications and effectiveness of the proposed ADE approach are illustrated by simulated experiments, including a non-complete connection graph of such a distributed estimation system.

8

Predykcyjne bezczujnikowe sterowanie silnikiem bezszczotkowym BLDC

Zajkowski K., Duer S.

Autobusy : technika, eksploatacja, systemy transportowe

|

2013

|

R. 14, nr 10

307-310

PL

W artykule omówiono metodę sterowania bezczujnikowego silnikiem bezszczotkowym. Przedstawiono ideę sterowania przy wykorzystaniu modelu matematycznego silnika i filtru Kalmana.

EN

This paper discusses a method control for sensorless brushless motor. The paper presents the idea of using a mathematical model and the Kalman filter on control BLDC motor.

9

Ściśle zintegrowany system pozycjonowania pojazdu lądowego DR/GNSS

Kaniewski P., Konatowski S.

TTS Technika Transportu Szynowego

|

2012

|

R. 19, nr 9

987--994, CD

PL

W artykule opisano system pozycjonujący DR/GNSS, zintegrowany metodą filtracji pośredniej (kompensacji), przeznaczony do zastosowania w pojazdach lądowych. System ten, składający się z podsystemu nawigacji zliczeniowej DR i odbiornika GNSS należy do grupy systemów ściśle zintegrowanych i zawiera pojedynczy scentralizowany algorytm filtracji Kalmana. W artykule przedstawiono budowę systemu, jego model matematyczny i algorytm filtracji. Opracowanie zawiera również wyniki badań symulacyjnych systemu DR/GNSS wraz z ich dyskusją.

EN

The paper presents a DR/GNSS positioning system, integrated with use of indirect filtration (compensation) method, intended for land vehicles. The system composed of a dead-reckoning subsystem (DR) and a GNSS receiver belongs to the group of tightly coupled systems and contains only one centralized Kalman filter. The paper presents the structure of DR/GNSS system, its mathematical model and explains the rules of operation of the filtering algorithm. Chosen simulation results of tightly coupled DR/GNSS system and their discussion are included.

10

Ocena wpływu rozkładu zakłóceń stanu na dokładność estymacji wybranych algorytmów nieliniowej filtracji w systemach pozycjonujących

Konatowski S., Kaniewski P.

TTS Technika Transportu Szynowego

|

2012

|

R. 19, nr 9

979--986, CD

PL

W artykule opisane zostały algorytmy filtracji nieliniowej (rozszerzona Kalmana, bezśladowa Kalmana, cząstkowa, cząstkowa wykorzystująca filtrację rozszerzoną Kalmana oraz bezśladowa filtracja cząstkowa) stosowane w systemach pozycjonujących. Zaprezentowane zostały wyniki badań symulacyjnych porównujących jakość estymacji analizowanych rodzajów filtrów nieliniowych dla różnych nieliniowości oraz rozkładów prawdopodobieństwa zakłóceń stanu: Gaussa, Rayleigha, Studenta, i Gamma.

EN

The paper describes several types of nonlinear filtering algorithms, widely used in positioning systems (Extended Kalman Filter, Unscented Kalman Filter, particle filter, EKF approximation for particle filter and unscented particle filter). Numerous simulation results, which are to compare the quality of analyzed nonlinear filters for different nonlinearities and distributions (Gaussian, Rayleigh, Student, Gamma) are shown.

11

Niskokosztowe sensory MEMS w systemach nawigacji inercyjnej

Sawicki M., Sondej T.

Pomiary Automatyka Kontrola

|

2012

|

R. 58, nr 8

701-703

PL

W artykule zaprezentowano system pozycjonowania zbudowany przy użyciu sensorów nawigacji inercyjnej (INS) oraz odbiornika GPS. Jako czujniki inercyjne zastosowano niskokosztowe, powszechnie dostępne akcelerometry i żyroskopy wykonane w technologii MEMS. Omówiono sposób kalibracji akcelerometru oraz metody przetwarzania sygnałów z sensorów MEMS. Przedstawiono również wyniki przeprowadzonych badań eksperymentalnych.

EN

The paper presents a positioning system with GPS and inertial sensors. The system is based on commercial solutions described in [1, 3]. The designed system consists of a GPS receiver, a MEMS accelerometer, a MEMS gyroscope, an electronic compass and a pressure sensor. Data processing was carried out by use of a microcontroller with ARM Cortex-M3 core. Designated positions are recorded on a microSD memory card and transmitted by the UART interface according to the NMEA standard. The experimental tests consisting in driving on city roads were performed. The measurement results were recorded directly from the GPS receiver and the system output. Characteristic places such as a tunnel or railway traction were analysed. The results obtained show that MEMS sensors improve the accuracy of determining the position during short-term GPS signal outages. They allow setting the positions more accurately in difficult terrain such as dense urban areas and underground tunnels. In addition, application of low-cost sensors gives a possibility to use the system in popular car navigation systems or mobile phones.

12

Model-based digital filtering utilised in the engine dynamometer bench

Grzeszczyk R., Merkisz J., Drop T., Kamiński T., Niezgoda M., Rychter M., Boguś P.

Silniki Spalinowe

|

2011

|

R. 50, nr 3

PL

W pracy opisano projektowanie, badania i zastosowania filtracji cyfrowej przeprowadzonej w oparciu o metody z wykorzystaniem modeli matematycznych analizowanych sygnałów (w tym przypadku filtrów Kalmana). Projekt i badania symulacyjne filtrów zrealizowane zostały z zastosowaniem pakietu oprogramowania do obliczeń inżynierskich Scilab (publicznie dostępny pakiet, na zasadach open source). Strojenie parametry filtrów przeprowadzono na stanowisku z małym silnikiem spalinowym Robin-Subaru EX17, oraz stanowisku hamownianym firmy Automex. Oprzyrządowanie pomiarowe stanowiska umożliwia pomiar wszystkich istotnych parametrów pracy silnika, sygnały są rejestrowane przez układ sensorów. Przetwarzanie zarejestrowanych sygnałów, ich wizualizacja i archiwizacja wyników badań są możliwe na komputerze PC wyposażonym w odpowiednie oprogramowanie. W pracy przedstawiono porównanie efektywności i możliwego zakresu stosowalności filtrów o różnych strukturach, korzyści wynikające z ich stosowania w porównaniu do algorytmów "klasycznych" oraz potencjalne problemy z ich implementacją i stosowaniem.

EN

The paper presents design, testing and application of model-based digital filtering (Kalman filters are in scope of this paper). Design and verification by simulation were carried out with the use of Scilab, freely available, open source engineering platform for numerical computation. The filter parameters were tuned on the bench equipped with a small EX17 Robin-Subaru combustion engine, and the dynamometer made by Automex. Grid of sensors wired to the stand control unit delivers data necessary for estimation of all the tangible engine parameters during tests. Processing of the acquired data, data storage and visualisation is possible on the PC were suitable software is present. The paper also discusses efficacy and possible range of application for different filter designs, their comparison to classic methods (not model-based), as well as the possible problems and limits in their practical use.

13

Novel optimal recursive filter for state and fault estimation of linear stochastic systems with unknown disturbances

Khémiri K., Ben Hmida F., Ragot J., Gossa M.

International Journal of Applied Mathematics and Computer Science

|

2011

|

Vol. 21, no 4

629-637

EN

This paper studies recursive optimal filtering as well as robust fault and state estimation for linear stochastic systems with unknown disturbances. It proposes a new recursive optimal filter structure with transformation of the original system. This transformation is based on the singular value decomposition of the direct feedthrough matrix distribution of the fault which is assumed to be of arbitrary rank. The resulting filter is optimal in the sense of the unbiased minimum-variance criteria. Two numerical examples are given in order to illustrate the proposed method, in particular to solve the estimation of the simultaneous actuator and sensor fault problem and to make a comparison with the existing literature results.

14

Algorytm sterowania czterowirnikowcem

Barański P., Polańczyk M., Strumiłło P.

Elektronika : konstrukcje, technologie, zastosowania

|

2011

|

Vol. 52, nr 9

135-138

PL

W artykule omówiono prosty algorytm sterowania platformą latającą złożoną z czterech silników i śmigieł o stałym skoku. Stanowi to dużą zaletę w porównaniu do helikopterów gdzie wymagane są skomplikowane i drogie śmigła o zmiennym skoku. W algorytmie sterowania platformy zastosowano kontroler PID. Do pomiaru położenia platformy latającej wykorzystywany jest czujnik przyśpieszenia oraz żyroskop. Informacje z tych dwóch czujników są integrowane za pomocą filtracji Kalmana w celu uzyskania lepszej estymacji położenia platformy.

EN

The article presents a simple algorithm for controlling a quadcopter composed of four engines an constant pitch propellers. The algorithm is based on a PID controller. The posture of the quadcopter is estimated on the base of an accelerometer and a gyroscope. The data is integrated by a Kalman filter to achieve accurate estimates of the vehicle posture.

15

An improved Neural Kalman Filtering Algorithm in the analysis of cyclic behaviour of concrete specimens

Krok A.

Computer Assisted Mechanics and Engineering Sciences

|

2011

|

Vol. 18, no. 4

275-282

EN

The article is related to the results of research on Node Decoupled Extended Kalman Filtering (NDEKF) as a learning method for the training of Multilayer Perceptron (MPL). Developments of this method made by the author are presented. The application of NDEKF and MPL and other methods (pruning of MLP, Gauss Process model calibrated by Genetic Algorithm and Bayesian learning methods) are discussed on the problem of hysteresis loop simulations for tests of compressed concrete specimens subjected to cyclic loading.

16

Sensitivity analysis of multiple fault test and reliability measures in integrated GPS/INS systems

Almagbile A., Wang J., Ding W., Knight N.

Archiwum Fotogrametrii, Kartografii i Teledetekcji

|

2011

|

Vol. 22

25--37

EN

Based on Kalman filtering, multi-sensor navigation systems, such as the integrated GPS/INS system, are widely accepted to enhance the navigation solution for various applications. However, such integrated systems do not always provide robust and stable navigation solutions due to unmodelled measurements and system dynamic errors, such as faults that degrade the performance of Kalman filtering for such integration. Single fault detection methods based on least squares (snapshot) method were investigated extensively in the literature and found effective to detect the fault at either sensor level or integration level. However, the system might be contaminated by multiple faults simultaneously. Thus, there is an increased likelyhood that some of the faults may not be detected and identified correctly. This will degrade the accuracy of positioning. In this paper multiple fault test and reliability measures based on a snapshot method were implemented in both the measurement model and the predicted states model for use in a GPS/INS integration system. The influences of the correlation coefficients between fault test statistics on the performances of the faults test and reliability measures were also investigated. The results indicate that the multiple fault test and reliability measures can perform more effectively in the measurement model than the predicted states model due to weak geometric strength within the predicted states model.

17

A cooperative positioning algorithm for DSRC enabled vehicular networks

Efatmaneshnik M., Kealy A., Alam N., Dempster A.

Archiwum Fotogrametrii, Kartografii i Teledetekcji

|

2011

|

Vol. 22

117--129

EN

Many of the safety related applications that can be facilitated by Dedicated Short Range Communications (DSRC), such as vehicle proximity warnings, automated braking (e.g. at level crossings), speed advisories, pedestrian alerts etc., rely on a robust vehicle positioning capability such as that provided by a Global Navigation Satellite System (GNSS). Vehicles in remote areas, entering tunnels, high rise areas or any high multipath/ weak signal environment will challenge the integrity of GNSS position solutions, and ultimately the safety application it underpins. To address this challenge, this paper presents an innovative application of Cooperative Positioning techniques within vehicular networks. CP refers to any method of integrating measurements from different positioning systems and sensors in order to improve the overall quality (accuracy and reliability) of the final position solution. This paper investigates the potential of the DSRC infrastructure itself to provide an intervehicular ranging signal that can be used as a measurement within the CP algorithm. In this paper, time-based techniques of ranging are introduced and bandwidth requirements are investigated and presented. The robustness of the CP algorithm to inter-vehicle connection failure as well as GNSS dropouts is also demonstrated using simulation studies. Finally, the performance of the Constrained Kalman Filter used to integrate GNSS measurements with DSRC derived range estimates within a typical VANET is described and evaluated.

18

Models of DP systems in full mission ship simulator

Zalewski P.

Zeszyty Naukowe / Akademia Morska w Szczecinie

|

2010

|

nr 20 (92)

146-152

EN

The paper presents modelling principles of DP systems integrated into the modernized full mission ship simulator of Kongsberg Polaris® type at Maritime University of Szczecin. Comparisons to real systems and research possibilities are given. Basing on the effects and conclusions obtained from scientific-research works performed by marine traffic engineering staff until now, the advantages of modernization of "full mission simulator" have been shown.

PL

W artykule przedstawiono modele systemów dynamicznego pozycjonowania (DP) w wielozadaniowym symulatorze statku typu Kongsberg Polaris® w Akademii Morskiej w Szczecinie. Zaprezentowano porównania z rzeczywistymi systemami i możliwości badawcze. Na podstawie rezultatów dotychczasowych prac naukowo-badawczych realizowanych w Instytucie Inżynierii Ruchu Morskiego AM w Szczecinie przedstawiono zalety modernizacji wielozadaniowego symulatora manewrowo-nawigacyjnego statku.

19

The use of Kalman filtration to estimate changes of trunk inclination angle during weightlifting

Sapota G., Sapota A., Wróbel Z.

Journal of Medical Informatics & Technologies

|

2010

|

Vol. 15

155--162

EN

The paper presents a concept of a sensor of weightlifter's trunk inclination angle with the use of Kalman filter algorithms to estimate the trunk inclination angle. The paper presents changes of trunk inclination angle obtained using the algorithm presented. The application of an accelerometric and gyroscopic sensor in the measuring system combined with the algorithms presented in the paper enables precise representation of angle changes during the exercise.

20

Samochodowy system pozycjonujący

Konatowski S., Dąbrowski M.

Przegląd Elektrotechniczny

|

2008

|

R. 84, nr 12

330-334

PL

W artykule przedstawiono projekt samochodowego systemu pozycjonującego DR/GPS, w którym dane nawigacyjne obu systemów przetwarzane są wspólnie za pomocą algorytmu komplementarnego filtru Kalmana. System DR spełnia rolę systemu odniesienia, a odbiornik systemu GPS jest źródłem danych korekcyjnych w tym algorytmie. Zaprezentowano opis struktury zintegrowanego systemu pozycjonującego, scharakteryzowano zasadę jego działania oraz zamieszczono wybrane wyniki badań symulacyjnych i testów w warunkach rzeczywistych.

EN

The paper presents a Vehicle Positioning System project (DR/GPS). It processes a navigation data provided by both, DR and GPS subsystems using complementary Kalman filter algorithm. DR is a reference system. As a source of correction data GPS receiver is used. The paper contains structure description of integrated positioning system, algorithms of DR GPS filtration and results of examination by the use of simulation and real data.