{"id":1506,"date":"2023-10-20T09:50:44","date_gmt":"2023-10-20T08:50:44","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=1506"},"modified":"2023-10-20T09:52:21","modified_gmt":"2023-10-20T08:52:21","slug":"kalman-filter-with-time-delays","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=1506","title":{"rendered":"Kalman filter with time delays"},"content":{"rendered":"<h4>H. Zhu, J. Mi, Y. Li, K. -V. Yuen and H. Leung, <strong>VB-Kalman Based Localization for Connected Vehicles With Delayed and Lost Measurements: Theory and Experiments,<\/strong> EEE\/ASME Transactions on Mechatronics, vol. 27, no. 3, pp. 1370-1378, June 2022 <a href=\"https:\/\/doi.org\/10.1109\/TMECH.2021.3095096\" target=\"_blank\">DOI: 10.1109\/TMECH.2021.3095096<\/a>.<\/h4>\n<blockquote><p>Traditionally, connected vehicles (CVs) share their own sensor data that relies on the satellite with their surrounding vehicles by vehicle-to-vehicle (V2V) communication. However, the satellite-based signal sometimes may be lost due to environmental factors. Time-delays and packet dropouts may occur randomly by V2V communication. To ensure the reliability and accuracy of localization for CVs, a novel variational Bayesian (VB)-Kalman method is developed for unknown and time varying probabilities of delayed and lost measurements. In this VB-Kalman localization method, two random variables are introduced to indicate whether a measurement is delayed and available, respectively. A hierarchical model is then formulated and its parameters and state are simultaneously estimated by the VB technique. Experimental results validate the proposed method for the localization of CVs in practice.<\/p><\/blockquote>\n<p>NOTE: See also S. Guo, Y. Liu, Y. Zheng and T. Ersal, &#8220;A Delay Compensation Framework for Connected Testbeds,&#8221; in IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 52, no. 7, pp. 4163-4176, July 2022, doi: 10.1109\/TSMC.2021.3091974.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>H. Zhu, J. Mi, Y. Li, K. -V. Yuen and H. Leung, VB-Kalman Based Localization for Connected Vehicles With Delayed <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=1506\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[387,113],"class_list":["post-1506","post","type-post","status-publish","format-standard","hentry","category-mobile-robot-localization","tag-communication-delays","tag-kalman-filtering"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1506"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1506"}],"version-history":[{"count":2,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1506\/revisions"}],"predecessor-version":[{"id":1508,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/1506\/revisions\/1508"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1506"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1506"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1506"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}