Localisation of mobile nodes in wireless networks with correlated in time measurement noise.

Wireless sensor networks are an inherent part of decision making, object tracking and location awareness systems. This work is focused on simultaneous localisation of mobile nodes based on received signal strength indicators (RSSIs) with correlated in time measurement noises. Two approaches to deal with the correlated measurement noises are proposed in the framework of auxiliary particle filtering: with a noise augmented state vector and the second approach implements noise decorrelation. The performance of the two proposed multi model auxiliary particle filters (MM AUX-PFs) is validated over simulated and real RSSIs and high localisation accuracy is demonstrated

Application of Dirichlet Distribution for Polytopic Model Estimation

The polytopic model (PM) structure is often used in the areas of automatic control and fault detection and isolation (FDI). It is an alternative to the multiple model approach which explicitly allows for interpolation among local models. This thesis proposes a novel approach to PM estimation by modeling the set of PM weights as a random vector with Dirichlet Distribution (DD). A new approximate (adaptive) PM estimator, referred to as a Quasi-Bayesian Adaptive Kalman Filter (QBAKF) is derived and implemented. The model weights and state estimation in the QBAKF is performed adaptively by a simple QB weights\u27 estimator and a single KF on the PM with the estimated weights. Since PM estimation problem is nonlinear and non-Gaussian, a DD marginalized particle filter (DDMPF) is also developed and implemented similar to MPF. The simulation results show that the newly proposed algorithms have better estimation accuracy, design simplicity, and computational requirements for PM estimation

Application of Dirichlet Distribution for Polytopic Model Estimation

The polytopic model (PM) structure is often used in the areas of automatic control and fault detection and isolation (FDI). It is an alternative to the multiple model approach which explicitly allows for interpolation among local models. This thesis proposes a novel approach to PM estimation by modeling the set of PM weights as a random vector with Dirichlet Distribution (DD). A new approximate (adaptive) PM estimator, referred to as a Quasi-Bayesian Adaptive Kalman Filter (QBAKF) is derived and implemented. The model weights and state estimation in the QBAKF is performed adaptively by a simple QB weights\u27 estimator and a single KF on the PM with the estimated weights. Since PM estimation problem is nonlinear and non-Gaussian, a DD marginalized particle filter (DDMPF) is also developed and implemented similar to MPF. The simulation results show that the newly proposed algorithms have better estimation accuracy, design simplicity, and computational requirements for PM estimation

A Survey of Recent Advances in Particle Filters and Remaining Challenges for Multitarget Tracking

[EN]We review some advances of the particle filtering (PF) algorithm that have been achieved in the last decade in the context of target tracking, with regard to either a single target or multiple targets in the presence of false or missing data. The first part of our review is on remarkable achievements that have been made for the single-target PF from several aspects including importance proposal, computing efficiency, particle degeneracy/impoverishment and constrained/multi-modal systems. The second part of our review is on analyzing the intractable challenges raised within the general multitarget (multi-sensor) tracking due to random target birth and termination, false alarm, misdetection, measurement-to-track (M2T) uncertainty and track uncertainty. The mainstream multitarget PF approaches consist of two main classes, one based on M2T association approaches and the other not such as the finite set statistics-based PF. In either case, significant challenges remain due to unknown tracking scenarios and integrated tracking management

The shifted Rayleigh mixture filter for bearings-only tracking of maneuvering targets

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