Performance Evaluation of Unscented Kalman Filter for Gaussian and non-Gaussian Tracking Application

State estimation theory is one of the best mathematical approaches to analyze variants in the states of the system or process. The state of the system is defined by a set of variables that provide a complete representation of the internal condition at any given instant of time. Filtering of Random processes is referred to as Estimation, and is a well defined statistical technique. There are two types of state estimation processes, Linear and Nonlinear. Linear estimation of a system can easily be analyzed by using Kalman Filter (KF) but  is optimal only when the model is linear .But  Most of the state estimation problems are nonlinear, thereby limiting the practical applications of the KF and EKF. Unscented Kalman filter and Particle filter are best known for nonlinear estimates. The approach in this paper is to analyze the algorithm for maneuvering target tracking using   bearing only measurements for both Gaussian /Nongaussian distributions where UKF provides better probability of state estimation.  Montecarlo computer simulations are used to analyse the performance .The simulations results showed that UKF provides better performance for Gaussian distributed models compared to the nongaussian models.DOI:http://dx.doi.org/10.11591/ijece.v3i1.32

The Cloud Aerosol Interaction and Precipitation Enhancement Experiment (CAIPEEX): overview and preliminary results

While the demand for enhancing rainfall through cloud seeding is strong and persistent in the country, considerable uncertainty exists on the success of such an endeavour at a given location. To understand the pathways of aerosol-cloud interaction through which this might be achieved, a national experiment named Cloud Aerosol Interaction and Precipitation Enhancement EXperiment (CAIPEEX) in two phases, was carried out. The rationale of CAIPEEX, the strategy for conducting the experiment, data quality and potential for path-breaking science are described in this article. Pending completion of quality control and calibration of the CAIPEEX phase-II data, here we present some initial results of CAIPEEX phase-I aimed at documenting the prevailing microphysical characteristics of aerosols and clouds and associated environmental conditions over different regions of the country and under different monsoon conditions with the help of an instrumented research aircraft. First-time simultaneous observations of aerosol, cloud condensation nuclei (CCN) and cloud droplet number concentration (CDNC) over the Ganges Valley during monsoon season show very high concentrations (> 1000 cm-3) of CCN at elevated layers. Observations of elevated layers with high aerosol concentration over the Gangetic valley extending up to 6 km and relatively less aerosol concentration in the boundary layer are also documented. We also present evidence of strong cloud- aerosol interaction in the moist environments with an increase in the cloud droplet effective radius. Our observations also show that pollution increases CDNC and the warm rain depth, and delays its initiation. The critical effective radius for warm rain initiation is found to be between 10 and 12 µm in the polluted clouds and it is between 12 and 14 µm in cleaner monsoon clouds

Assessment and planning for integrated river basin management using remote sensing, SWAT model and morphometric analysis (case study: Kaddam river basin, India)

River basin assessment is crucial for water management and to address the watershed issues. So, an integrated river basin management and assessment model using morphometric assessment, remote sensing, GIS and SWAT model was envisaged and applied to Kaddam river basin, Telangana state, India. Morphometric results showed high drainage density ranging from 2.19 to 5.5 km2/km, with elongated fan shape having elongation ratio of 0.60–0.75 with sparse vegetation and high relief. Land use change assessment showed that 265.26 km2 of forest land is converted into irrigated land and has increased sediment yields in watersheds. The calibration (r 2 = 0.74, NSE = 0.84) and validation (r 2 = 0.72, NSE = 0.84) of SWAT model showed that simulated and observed results were in agreement and in recommended ranges. The SWAT simulations were used to compute mean annual water and sediment yield from 1997 to 2012, along with morphometric results to categorize critical watersheds and conservation structures were proposed accordingly

Identification of Rainfall Deviation Thresholds Based on WRSI for Monitoring Water Stress in Pulses

The study was conducted to identify rainfall deviation thresholds based on water requirement satisfaction index (WRSI) in pulses for monitoring water stress due to drought during kharif season in Telangana. The districts of Medak, Warangal and Mahabubnagar with major areas under blackgram, greengram and redgram crops, respectively were considered as study area. The rainfall deviation frequency was estimated in 20 representative sites under each crop and accordingly WRSI was calculated. The rainfall and WRSI estimated were related for their dependability in the estimation of water stress occurring due to drought during kharif season in the crops under study. Based on rainfall frequency, the rainfall was deficit for blackgram and normal for greengram and redgram in most of the study period. WRSI predicted mediocre growth of blackgram and average to good growth of greengram and redgram. The total explained variation in the prediction of crop performance by WRSI index in relation to rainfall was 0.26 to 0.77 for blackgram, 0.57 to 0.96 for redgram, 0.35 to 0.94 for greengram during the study period. The rainfall deviation thresholds were identified irrespective of soil type and depth in blackgram. Whereas, in case of greengram and redgram, the thresholds varied with soil type and depth

Late cretaceous mafic dykes in the Dharwar craton

Palaeomagnetic, geochemical and geochronological studies have been conducted on a set of dolerite dykes intruding the Peninsular gneisses near Huliyurdurga town, Karnataka, as a reconnaissance survey indicated a Cretaceous age for them. The dykes are mainly tholeiitic in composition with their 87Sr/86Sr ratios tightly clustered around 0·7045. Their palaeomagnetic data (D <SUB>m</SUB> =329&#176;,I <SUB>m</SUB> =-55&#176;) and the corresponding palaeopole coordinates (&#955;<SUB>p</SUB> = 34&#176;S,L <SUB>p</SUB> =108&#176;E) are strikingly close to those of the Deccan Traps to the north. Whole rock K-Ar ages of these dykes ranging between 69 and 84 Ma are also similar to the range of K-Ar ages of the Deccan basalts. The chemical, palaeomagnetic and temporal coherence between the dykes and the Deccan basalts indicate that they may indeed be tectonically related events

Rb-Sr ages of Proterozoic kimberlites of India: evidence for contemporaneous emplacement

Rb---Sr analyses of leached phlogopite macrocrysts from kimberlite pipes 1, 2, 5 and 7 in south India give concordant ages of 1091±20, 1092±15, 1093±20 and 1091±10 Ma, respectively, indicating contemporaneous emplacement of these pipes. The present results are in contradiction with earlier measurements. Groundmass mineral assemblages with low Rb/Sr ratios give a tight set of initial Sr ratios at 0.7029±2, 0.7019±2, 0.7029±2 and 0.7030±4 suggesting derivation of the primary kimberlite magma from a relatively uniform and depleted mantle source. A similar age and initial Sr isotopic ratio of one sample of the Majhgawan lamproite from Central India imply that the Proterozoic kimberlite/lamproite activities in India, though widely separated in space, were nearly contemporaneous

Disseminated Cutaneous Rhinosporidiosis

Rhinosporidiosis is a granulomatous disorder caused by Rhinosporidium seeberi. It frequently involves the nasopharynx and occasionally affects the skin. We hereby report a case of 46–year-old male who presented with multiple cutaneous plaque-like lesions with nasal obstruction. On examination, multiple cutaneous lesions were found to be present on malar aspect, infraorbital and supraorbital region, right shoulder and over the back near the tip of scapula. Oral cavity revealed a polypoidal lesion, in the base of the tongue. Excision biopsy confirmed the lesions as disseminated cutaneous rhinosporidiosis. The patient was treated with excision and dapsone therapy. After 1 year of therapy, the patient has disease-free survival. We report this rare case of rhinosporidiosis with disseminated cutaneous involvement