An Initial Value Estimation Method for the Kalman and Extended Kalman Filters in Underground Metal Detection
As an underground metal detection technology, the electromagnetic induction (EMI) method is widely used in many cases. Therefore, the EMI detection algorithms with excellent performance are worth studying. One of the EMI detection methods in the underground metal detection is the filter method, whic...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-10-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/9/19/4113 |
| _version_ | 1818822125058785280 |
|---|---|
| author | Yadong Wan Zhen Wang Peng Wang Zhiyang Liu Na Li Chao Zhang |
| author_facet | Yadong Wan Zhen Wang Peng Wang Zhiyang Liu Na Li Chao Zhang |
| author_sort | Yadong Wan |
| collection | DOAJ |
| description | As an underground metal detection technology, the electromagnetic induction (EMI) method is widely used in many cases. Therefore, the EMI detection algorithms with excellent performance are worth studying. One of the EMI detection methods in the underground metal detection is the filter method, which first obtains the secondary magnetic field data and then uses the Kalman filter (KF) and the extended Kalman filter (EKF) to estimate the parameters of metal targets. However, the traditional KF methods used in the underground metal detection have an unsatisfactory performance of the convergence as the algorithms are given a random or a fixed initial value. Here, an initial state estimation algorithm for the underground metal detection is proposed. The initial state of the target’s horizontal position is estimated by the first order central moments of the secondary field strength map. In addition, the initial state of the target’s depth is estimated by the full width at half maximum (FWHM) method. In addition, the initial state of the magnetic polarizability tensor is estimated by the least squares method. Then, these initial states are used as the initial values for KF and EKF. Finally, the position, posture and polarizability of the target are recursively calculated. A simulation platform for the underground metal detection is built in this paper. The simulation results show that the initial value estimation method proposed for the filtering algorithm has an excellent performance in the underground metal detection. |
| first_indexed | 2024-12-18T23:19:06Z |
| format | Article |
| id | doaj.art-82d0ad5fac1144deae6b66784c582420 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-18T23:19:06Z |
| publishDate | 2019-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-82d0ad5fac1144deae6b66784c5824202022-12-21T20:48:03ZengMDPI AGApplied Sciences2076-34172019-10-01919411310.3390/app9194113app9194113An Initial Value Estimation Method for the Kalman and Extended Kalman Filters in Underground Metal DetectionYadong Wan0Zhen Wang1Peng Wang2Zhiyang Liu3Na Li4Chao Zhang5School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaNetEase, 599 Shangshang Road, Binjiang District, Hangzhou 310052, Zhejiang, ChinaSchool of Mathematics and Physics, University of Science and Technology Beijing, Beijing 100083, ChinaSchool of Materials Science and Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaAs an underground metal detection technology, the electromagnetic induction (EMI) method is widely used in many cases. Therefore, the EMI detection algorithms with excellent performance are worth studying. One of the EMI detection methods in the underground metal detection is the filter method, which first obtains the secondary magnetic field data and then uses the Kalman filter (KF) and the extended Kalman filter (EKF) to estimate the parameters of metal targets. However, the traditional KF methods used in the underground metal detection have an unsatisfactory performance of the convergence as the algorithms are given a random or a fixed initial value. Here, an initial state estimation algorithm for the underground metal detection is proposed. The initial state of the target’s horizontal position is estimated by the first order central moments of the secondary field strength map. In addition, the initial state of the target’s depth is estimated by the full width at half maximum (FWHM) method. In addition, the initial state of the magnetic polarizability tensor is estimated by the least squares method. Then, these initial states are used as the initial values for KF and EKF. Finally, the position, posture and polarizability of the target are recursively calculated. A simulation platform for the underground metal detection is built in this paper. The simulation results show that the initial value estimation method proposed for the filtering algorithm has an excellent performance in the underground metal detection.https://www.mdpi.com/2076-3417/9/19/4113electromagnetic inductionextended kalman filterinitial value estimationkalman filterunderground metal detection |
| spellingShingle | Yadong Wan Zhen Wang Peng Wang Zhiyang Liu Na Li Chao Zhang An Initial Value Estimation Method for the Kalman and Extended Kalman Filters in Underground Metal Detection Applied Sciences electromagnetic induction extended kalman filter initial value estimation kalman filter underground metal detection |
| title | An Initial Value Estimation Method for the Kalman and Extended Kalman Filters in Underground Metal Detection |
| title_full | An Initial Value Estimation Method for the Kalman and Extended Kalman Filters in Underground Metal Detection |
| title_fullStr | An Initial Value Estimation Method for the Kalman and Extended Kalman Filters in Underground Metal Detection |
| title_full_unstemmed | An Initial Value Estimation Method for the Kalman and Extended Kalman Filters in Underground Metal Detection |
| title_short | An Initial Value Estimation Method for the Kalman and Extended Kalman Filters in Underground Metal Detection |
| title_sort | initial value estimation method for the kalman and extended kalman filters in underground metal detection |
| topic | electromagnetic induction extended kalman filter initial value estimation kalman filter underground metal detection |
| url | https://www.mdpi.com/2076-3417/9/19/4113 |
| work_keys_str_mv | AT yadongwan aninitialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT zhenwang aninitialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT pengwang aninitialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT zhiyangliu aninitialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT nali aninitialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT chaozhang aninitialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT yadongwan initialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT zhenwang initialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT pengwang initialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT zhiyangliu initialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT nali initialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection AT chaozhang initialvalueestimationmethodforthekalmanandextendedkalmanfiltersinundergroundmetaldetection |