Filtering is a recursive estimation of hidden states of a dynamic system from noisy measurements.Such problems appear in several branches of science and technology,ranging from target tracking to biomedical monitoring...Filtering is a recursive estimation of hidden states of a dynamic system from noisy measurements.Such problems appear in several branches of science and technology,ranging from target tracking to biomedical monitoring.A commonly practiced approach of filtering with nonlinear systems is Gaussian filtering.The early Gaussian filters used a derivative-based implementation,and suffered from several drawbacks,such as the smoothness requirements of system models and poor stability.A derivative-free numerical approximation-based Gaussian filter,named the unscented Kalman filter(UKF),was introduced in the nineties,which offered several advantages over the derivativebased Gaussian filters.Since the proposition of UKF,derivativefree Gaussian filtering has been a highly active research area.This paper reviews significant developments made under Gaussian filtering since the proposition of UKF.The review is particularly focused on three categories of developments:i)advancing the numerical approximation methods;ii)modifying the conventional Gaussian approach to further improve the filtering performance;and iii)constrained filtering to address the problem of discrete-time formulation of process dynamics.This review highlights the computational aspect of recent developments in all three categories.The performance of various filters are analyzed by simulating them with real-life target tracking problems.展开更多
Let {Xkl,…, Xkp, k≥ 1} be a p-dimensional standard （zero-means, unit-variances）non-stationary Gaussian vector sequence. In this work, the joint limit distribution of the maximaof {Xkl,…, Xkp, k 〉 1}, the incompl...Let {Xkl,…, Xkp, k≥ 1} be a p-dimensional standard （zero-means, unit-variances）non-stationary Gaussian vector sequence. In this work, the joint limit distribution of the maximaof {Xkl,…, Xkp, k 〉 1}, the incomplete maxima of those sequences subject to random failureand the partial sums of those sequences are obtained.展开更多
We study the asymptotic relation among the maximum of continuous weakly and strongly dependent stationary Gaussian process, the maximum of this process sampled at discrete time points, and the partial sum of this proc...We study the asymptotic relation among the maximum of continuous weakly and strongly dependent stationary Gaussian process, the maximum of this process sampled at discrete time points, and the partial sum of this process. It is shown that these two extreme values and the sum are asymptotically independent if the grid of the discrete time points is sufficiently sparse and the Gaussian process is weakly dependent, and asymptotically dependent if the grid points are Pickands grids or dense grids.展开更多
We propose a thoroughly optimal signal design strategy to achieve the Pareto boundary （boundary of the achievable rate region） with improper Gaussian signaling （IGS） on the Z-interference channel （Z-IC） under th...We propose a thoroughly optimal signal design strategy to achieve the Pareto boundary （boundary of the achievable rate region） with improper Gaussian signaling （IGS） on the Z-interference channel （Z-IC） under the assumption that the interference is treated as additive Gaussian noise. Specifically, we show that the Pareto boundary has two different schemes determined by the two paths manifesting the characteristic of improperly transmitted signals. In each scheme, we derive several concise closed-form expressions to calculate each user＇s optimally transmitted power, covariance, and pseudo-covariance of improperly transmitted signals. The effectiveness of the proposed optimal signal design strategy is supported by simulations, and the results clearly show the superiority of IGS. The proposed optimal signal design strategy also provides a simple way to achieve the required rate region, with which we also derive a closed-form solution to quickly find the circularity coefficient that maximizes the sum rate. Finally, we provide an in-depth discussion of the structure of the Pareto boundary, characterized by the channel coefficient, the degree of impropriety measured by the covariance, and the pseudo-covaxiance of signals transmitted by two users.展开更多
为了提高非线性变换的近似精度,提出了一种高阶无迹变换(High orderUnscented Transform,HUT)机制,利用HUT确定采样点并进行数值积分去近似状态的后验概率密度函数,建立了高阶无迹卡尔曼滤波(High-order UnscentedKalman Filter,HUKF)算...为了提高非线性变换的近似精度,提出了一种高阶无迹变换(High orderUnscented Transform,HUT)机制,利用HUT确定采样点并进行数值积分去近似状态的后验概率密度函数,建立了高阶无迹卡尔曼滤波(High-order UnscentedKalman Filter,HUKF)算法.进一步的为了解决非线性、非高斯系统的状态估计问题,将HUKF与高斯和滤波(Gaussian Sum Filter,GSF)相结合,提出了一种高斯和高阶无迹卡尔曼滤波算法(Gaussian Sum High order Unscented Kalman filter,GS-HUKF),该算法的核心思想是利用一组高斯分布的和去近似状态的后验概率密度,同时针对每一个高斯分布采用高阶无迹卡尔曼滤波算法进行估计.数值仿真实验结果表明,提出的HUT机制与普通的无迹变换(Unscented Transform,UT)相比,具有更高的近似精度;提出的GS-HUKF与传统的GSF以及高斯和粒子滤波器(Gaussian Sum Particle Filter,GS-PF)相比,兼容了二者的优点,即具有计算复杂度低和估计精度高的特性.展开更多
A new multi-target filtering algorithm, termed as the Gaussian sum probability hypothesis density （GSPHD） filter, is proposed for nonlinear non-Gaussian tracking models. Provided that the initial prior intensity of ...A new multi-target filtering algorithm, termed as the Gaussian sum probability hypothesis density （GSPHD） filter, is proposed for nonlinear non-Gaussian tracking models. Provided that the initial prior intensity of the states is Gaussian or can be identified as a Gaussian sum, the analytical results of the algorithm show that the posterior intensity at any subsequent time step remains a Gaussian sum under the assumption that the state noise, the measurement noise, target spawn intensity, new target birth intensity, target survival probability, and detection probability are all Gaussian sums. The analysis also shows that the existing Gaussian mixture probability hypothesis density （GMPHD） filter, which is unsuitable for handling the non-Gaussian noise cases, is no more than a special case of the proposed algorithm, which fills the shortage of incapability of treating non-Gaussian noise. The multi-target tracking simulation results verify the effectiveness of the proposed GSPHD.展开更多
文摘Filtering is a recursive estimation of hidden states of a dynamic system from noisy measurements.Such problems appear in several branches of science and technology,ranging from target tracking to biomedical monitoring.A commonly practiced approach of filtering with nonlinear systems is Gaussian filtering.The early Gaussian filters used a derivative-based implementation,and suffered from several drawbacks,such as the smoothness requirements of system models and poor stability.A derivative-free numerical approximation-based Gaussian filter,named the unscented Kalman filter(UKF),was introduced in the nineties,which offered several advantages over the derivativebased Gaussian filters.Since the proposition of UKF,derivativefree Gaussian filtering has been a highly active research area.This paper reviews significant developments made under Gaussian filtering since the proposition of UKF.The review is particularly focused on three categories of developments:i)advancing the numerical approximation methods;ii)modifying the conventional Gaussian approach to further improve the filtering performance;and iii)constrained filtering to address the problem of discrete-time formulation of process dynamics.This review highlights the computational aspect of recent developments in all three categories.The performance of various filters are analyzed by simulating them with real-life target tracking problems.
基金Supported by the National Natural Science Foundation of China(11326175,71471090)the Zhejiang Natural Science Foundation of China(LQ14A010012)
文摘Let {Xkl,…, Xkp, k≥ 1} be a p-dimensional standard （zero-means, unit-variances）non-stationary Gaussian vector sequence. In this work, the joint limit distribution of the maximaof {Xkl,…, Xkp, k 〉 1}, the incomplete maxima of those sequences subject to random failureand the partial sums of those sequences are obtained.
基金The authors would like to thank the referees for their careful reading and helpful comments that improved the quality of the paper. This work was supported by the National Natural Science Foundation of China （Grant No. 11326175）, the Natural Science Foundation of Zhejiang Province （Nos. LQ14A010012, LY15A010019）, the Natural Science Foundation of 3iangsu Higher Education Institution of China （No. 14KJB110023）, and the Research Foundation of SUST.
文摘We study the asymptotic relation among the maximum of continuous weakly and strongly dependent stationary Gaussian process, the maximum of this process sampled at discrete time points, and the partial sum of this process. It is shown that these two extreme values and the sum are asymptotically independent if the grid of the discrete time points is sufficiently sparse and the Gaussian process is weakly dependent, and asymptotically dependent if the grid points are Pickands grids or dense grids.
基金Project supported by the National Natural Science Foundation of China （Nos. 61601477 and 61601482）
文摘We propose a thoroughly optimal signal design strategy to achieve the Pareto boundary （boundary of the achievable rate region） with improper Gaussian signaling （IGS） on the Z-interference channel （Z-IC） under the assumption that the interference is treated as additive Gaussian noise. Specifically, we show that the Pareto boundary has two different schemes determined by the two paths manifesting the characteristic of improperly transmitted signals. In each scheme, we derive several concise closed-form expressions to calculate each user＇s optimally transmitted power, covariance, and pseudo-covariance of improperly transmitted signals. The effectiveness of the proposed optimal signal design strategy is supported by simulations, and the results clearly show the superiority of IGS. The proposed optimal signal design strategy also provides a simple way to achieve the required rate region, with which we also derive a closed-form solution to quickly find the circularity coefficient that maximizes the sum rate. Finally, we provide an in-depth discussion of the structure of the Pareto boundary, characterized by the channel coefficient, the degree of impropriety measured by the covariance, and the pseudo-covaxiance of signals transmitted by two users.
文摘为了提高非线性变换的近似精度,提出了一种高阶无迹变换(High orderUnscented Transform,HUT)机制,利用HUT确定采样点并进行数值积分去近似状态的后验概率密度函数,建立了高阶无迹卡尔曼滤波(High-order UnscentedKalman Filter,HUKF)算法.进一步的为了解决非线性、非高斯系统的状态估计问题,将HUKF与高斯和滤波(Gaussian Sum Filter,GSF)相结合,提出了一种高斯和高阶无迹卡尔曼滤波算法(Gaussian Sum High order Unscented Kalman filter,GS-HUKF),该算法的核心思想是利用一组高斯分布的和去近似状态的后验概率密度,同时针对每一个高斯分布采用高阶无迹卡尔曼滤波算法进行估计.数值仿真实验结果表明,提出的HUT机制与普通的无迹变换(Unscented Transform,UT)相比,具有更高的近似精度;提出的GS-HUKF与传统的GSF以及高斯和粒子滤波器(Gaussian Sum Particle Filter,GS-PF)相比,兼容了二者的优点,即具有计算复杂度低和估计精度高的特性.
基金National Natural Science Foundation of China (60572023)
文摘A new multi-target filtering algorithm, termed as the Gaussian sum probability hypothesis density （GSPHD） filter, is proposed for nonlinear non-Gaussian tracking models. Provided that the initial prior intensity of the states is Gaussian or can be identified as a Gaussian sum, the analytical results of the algorithm show that the posterior intensity at any subsequent time step remains a Gaussian sum under the assumption that the state noise, the measurement noise, target spawn intensity, new target birth intensity, target survival probability, and detection probability are all Gaussian sums. The analysis also shows that the existing Gaussian mixture probability hypothesis density （GMPHD） filter, which is unsuitable for handling the non-Gaussian noise cases, is no more than a special case of the proposed algorithm, which fills the shortage of incapability of treating non-Gaussian noise. The multi-target tracking simulation results verify the effectiveness of the proposed GSPHD.
