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

First report of Spotted reef crab off Vizhinjam coast

Carpilius maculatus (Linnaeus, 1758), commonly known as ‘Seven-eleven crab’, ‘Spotted reef crab’, ‘Dark finger coral crab’, or ‘Large spotted crab’ is a member of the family Carpiliidae. One male specimen of the spotted reef crab C. maculatus measuring 130 mm in carapace width was caught by a bottom set gill net along with Portunus sanguinolentus from the rocky area in Vizhinjam coastal waters

A study of methods of prediction and measurement of the transmission of sound through the walls of light aircraft

The acoustic intensity technique was applied to the sound transmission loss of panel structures (single, composite, and stiffened). A theoretical model of sound transmission through a cylindrical shell is presented

Large scale farming of green mussel in Ashtamudi Lake, Kerala

Green mussel, Perna viridis, farming is spreading fast in the lower stretches of Ashtamudi Lake in Kollam district of Southern Kerala. Huge demand for green mussel in the northern part of Kerala has resulted in significant increase in its price. The price has increased to ` 10,000 per gunny bag of 70 kg for medium sized mussel (50-100 mm) whereas larger ones (120 -150 mm) fetch prices as high as ` 400 per kg (8 pieces). This has prompted local fishermen to try mussel farming using on bottom method of mussel culture which some farmers practiced earlier with locally available seed

Unusual landings of Aluterus monoceros (Linnaeus, 1758) along Vizhinjam coast

On the13th of July 2009, unusual heavy landings of Aluterus monoceros (unicorn leather jacket) of the family Monacanthidae were observed along the coast, from Vizhinjam to Marianadu about 40 km north of Vizhinjam (Fig. 1). These fishes, locally known as “komban clathy” or “mara clathy” are rarely observed in large numbers in the landings at Vizhinjam which has become a subject of surprise to the fishermen. This has been the first incident of such a heavy landing of bigger sized unicorn leather jacket in this area

Empirical model for mean temperature for Indian zone and estimation of precipitable water vapor from ground based GPS measurements

Estimation of precipitable water (PW) in the atmosphere from ground-based Global Positioning System (GPS) essentially involves modeling the zenith hydrostatic delay (ZHD) in terms of surface Pressure (<I>P<sub>s</sub></I>) and subtracting it from the corresponding values of zenith tropospheric delay (ZTD) to estimate the zenith wet (non-hydrostatic) delay (ZWD). This further involves establishing an appropriate model connecting PW and ZWD, which in its simplest case assumed to be similar to that of ZHD. But when the temperature variations are large, for the accurate estimate of PW the variation of the proportionality constant connecting PW and ZWD is to be accounted. For this a water vapor weighted mean temperature (<I>T<sub>m</sub></I>) has been defined by many investigations, which has to be modeled on a regional basis. For estimating PW over the Indian region from GPS data, a region specific model for <I>T<sub>m</sub></I> in terms of surface temperature (<I>T<sub>s</sub></I>) is developed using the radiosonde measurements from eight India Meteorological Department (IMD) stations spread over the sub-continent within a latitude range of 8.5°–32.6° N. Following a similar procedure <I>T<sub>m</sub></I>-based models are also evolved for each of these stations and the features of these site-specific models are compared with those of the region-specific model. Applicability of the region-specific and site-specific <I>T<sub>m</sub></I>-based models in retrieving PW from GPS data recorded at the IGS sites Bangalore and Hyderabad, is tested by comparing the retrieved values of PW with those estimated from the altitude profile of water vapor measured using radiosonde. The values of ZWD estimated at 00:00 UTC and 12:00 UTC are used to test the validity of the models by estimating the PW using the models and comparing it with those obtained from radiosonde data. The region specific <I>T<sub>m</sub></I>-based model is found to be in par with if not better than a similar site-specific <I>T<sub>m</sub></I>-based model for the near equatorial station, Bangalore. A simple site-specific linear relation without accounting for the temperature effect through <I>T<sub>m</sub></I> is also found to be quite adequate for Bangalore. But for Hyderabad, a station located at slightly higher latitude, the deviation for the linear model is found to be larger than that of the <I>T<sub>m</sub></I>-based model. This indicates that even though a simple linear regression model is quite adequate for the near equatorial stations, where the temperature variations are relatively small, for estimating PW from GPS data at higher latitudes this model is inferior to the <I>T<sub>m</sub></I>-based model

The efficacy of Pajanelia longifolia (Willd.) K. Schum leaf extracts against the malaria vector Anopheles stephensi Liston (Diptera: Culicidae)

Pajanelia longifolia (Willd.) K. Schum is a medicinal deciduous tree with a history of traditional use. The use of biologically active plant materials with mosquitocidal characteristics has piqued the curiosity of scientists worldwide. The goal of this study was to see if P. longifolia crude extracts (in petroleum ether, chloroform, and methanol) had any ovipositional deterrent, ovicidal, larvicidal, or pupicidal activity against Anopheles stephensi Liston. The LC50 and LC90 values were determined by varying the concentrations of the leaf extracts. The highest oviditerrence activity (98.58% at 900 ppm), 100% ovicidal activity at 1700 ppm, 100% larvicidal activity at 1300 ppm, and pupicidal activity at 2100 ppm were found in the methanol extract. This study's findings suggest that the methanol extract of P. longifolia could be used to control mosquitoes. These discoveries could aid in the development of a potential alternate source of mosquito control. These kinds of biological insect control methods reduce the need for synthetic pesticides. The study proves that controlling mosquitoes in their infancy is easier and more effective than controlling the adult mosquitoes

Perinatal Idiopathic Hemochromatosis

We report the clinicopathologic features of an infant who died of a rare form of perinatal cirrhosis associated with idiopathic hepatic and extrahepatic parenchymal siderosis. The infant appeared normal at birth but soon became severely ill, following a progressively downhill course associated with hypoglycemia, metabolic acidosis, bleeding diathesis, jaundice, and shock. The infant died at 7 days of age. The manifestations were those of hepatic failure but mimicked sepsis and disseminated intravascular coagulation. Cirrhosis, giant cell transformation, and parenchymal iron deposition characteristic of perinatal idiopathic hemochromatosis, a recently emerging clinicopathologic entity of unknown etiology, were present in this infant. These clinical and pathologic features differ from other neonatal liver diseases in their acute onset immediately after birth, a catastrophic clinical course ending fatally, and the morphologic manifestation of significant iron overload