This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters ...This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.展开更多
针对当前广义频分复用(Generalized Frequency Division Multiplexing,GFDM)系统时变信道估计精度低的问题,提出基于稀疏贝叶斯学习的GFDM系统联合信道估计与符号检测算法.具体地,采用无干扰导频插入的GFDM多重响应信号模型,在稀疏贝叶...针对当前广义频分复用(Generalized Frequency Division Multiplexing,GFDM)系统时变信道估计精度低的问题,提出基于稀疏贝叶斯学习的GFDM系统联合信道估计与符号检测算法.具体地,采用无干扰导频插入的GFDM多重响应信号模型,在稀疏贝叶斯学习框架下,结合期望最大化算法(Expectation-Maximization,EM)和卡尔曼滤波与平滑算法实现块时变信道的最大似然估计;基于信道状态信息的估计值进行GFDM符号检测,并通过信道估计与符号检测的迭代处理逐步提高信道估计与符号检测的精度.仿真结果表明,所提算法能够获得接近完美信道状态信息条件下的误码率性能,且具有收敛速度快、对多普勒频移鲁棒性高等优点.展开更多
基金supported by the National Natural Science Foundation of China (61503392)。
文摘This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.
文摘针对当前广义频分复用(Generalized Frequency Division Multiplexing,GFDM)系统时变信道估计精度低的问题,提出基于稀疏贝叶斯学习的GFDM系统联合信道估计与符号检测算法.具体地,采用无干扰导频插入的GFDM多重响应信号模型,在稀疏贝叶斯学习框架下,结合期望最大化算法(Expectation-Maximization,EM)和卡尔曼滤波与平滑算法实现块时变信道的最大似然估计;基于信道状态信息的估计值进行GFDM符号检测,并通过信道估计与符号检测的迭代处理逐步提高信道估计与符号检测的精度.仿真结果表明,所提算法能够获得接近完美信道状态信息条件下的误码率性能,且具有收敛速度快、对多普勒频移鲁棒性高等优点.
