Real-time implementation of mixture particle filter for 3D RISS/GPS integrated navigation solution
Why this work is in the frame
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Bibliographic record
Abstract
An optimised real-time realisation of a mixture particle filter (PF) integrated 3D navigation system for land vehicles based on Global Positioning System (GPS) and Reduced Inertial Sensors System (RISS) is introduced. The PF is a nonlinear filter that can handle errors and uncertainties. Although a mixture PF decreases the number of particles compared to a sampling/importance resampling (SIR) PF, the implementation on embedded systems needs further optimisation to run at higher rates. Introduced is an optimised real-time implementation of a mixture PF on a 600 MHz ARM processor. The optimisation is based on fast median-cut clustering to reduce the complexity of search in the weighting step. The proposed real-time system was tested on a real mobile robot trajectory, showing fast and accurate performance.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it