Summary & Pricing
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TK-MIP software for Windows-based PC’s enables Monte-Carlo simulations and evaluations of Kalman filter estimation and tracking performance for linear and nonlinear applications. Once performance is tuned to be satisfactory, TK-MIP can be switched to process actual measurement sensor data via any one of the following six protocols: 

1. USB, 3. VXI, 5. RS-232 serial port,
2. GPIB, 4. PXI, 6. Ethernet (or TCP/IP) compatible with use of a Data Acquisition device: DAQ.

We are also following recent serial gigabit per second rate developments in VXS (Switched Fabric for 6U VMEbus such as Infiniband, Serial RapidIO, PCI Express & PCI Express AS, Gigabit Ethernet, StarFabric and associated specifications as, respectively, VITA 41.1, 41.2,.41.3, 41.4, 41.5), XMC (Switched Fabric Mezzanine Module), and VITA 49 Digital IF Forum. TeK Associates has also become aware that the best of both worlds may now be achieved by ruggedized packaging of Commercial Off-the-Shelf (COTS) cards and processors in Line Replaceable Units (LRU’s) and in ARINC 3/4 ATRs to match prior Form, Fit, and Function (F3). TeK Associates is especially enthusiastic about the emerging PCI Express standard that is already shipping on 200 Million Laptops in 2006 and more in 2007 and PCI Express’s capability for handling multiple CPU’s and cables up to 7 meters long and with data rates of 10 GigaHertz/Second each way and to be low cost as well ( $30-$40) with high end multiple CPU versions at ~ $100 (and also 3U version  already approved by the PXI Consortium)!  To aid in making the transition as gentle as possible over the next few years, new computers will have both the older PCI ports as well as the new PCI Express (PCIe) ports. (As of early May 2006, the IEEE Draft 802.11n, constituting emerging Wireless standards, failed to pass but did finally pass in September 2009.) Meanwhile a new standard is evolving for the Small Computer System Interface (SCSI) as a serial version aptly named Serial Attached SCSI (SAS).

Key Benefits

TK-MIP’s software structures have already been stressed and pre-tested, verified, and validated.
User is provided with test problems of known closed-form solution with which to confirm proper TK-MIP performance for themselves.
TK-MIP enables the user to perform linear Kalman filtering, approximate nonlinear filtering, “two-filter fixed interval” smoothing, maximum likelihood least squares batch filtering (by successive iterations over all the measurements), and (optionally) performance testing of linear feedback LQG\LTR control ONLY for the LTI case (with or without LTR). Also avails Interactive Multiple Model (IMM) filter investigations and offers use of Bierman\Thornton U-D-UT squareroot filter version of algorithms for situations involving application run times that are long (as compared to measurement update intervals).
Convenient, thorough, built-in tutorial in a pedagogical style that is accessible to all. Includes an internal on-line consultant feature and searchable 1000+ entry technical citation list.
Most TK-MIP capability is achievable without the need for any user programming. However, user is given access for customization at critical places in a controlled manner so important fundamental existing structures within TK-MIP cannot be clobbered by any bugs unintentionally introduced by user modifications\customization. Structurally partitioning TK-MIP in this manner limits possible damage that can be incurred to only these minor algebraic modifications and allows user to narrow their focus to only these few modifiable areas as the source of problems (and their resolution) if any computed answers further downstream appear to be questionable.
TK-MIP uses an intuitive visual structure for user to control all their tasks and automatically cross-checks that all necessary intermediate steps have been completed successfully before enabling further processing.
Needs no manual or user guide (since it is all built in) but automatically unloaded during actual data processing.
Includes state-of-the-art techniques and algorithms that are simply explained without hype.
Provides user with a repertoire of standard coordinate transformations to choose from to help eliminate possible user coding mistakes from creeping in at this point by making it unnecessary for users to code it themselves. 
Targeted for both academic and industrial investigations and applications.
Offers a password-protected classified processing mode for CONFIDENTIAL model parameters (for sensitive applications) that are encrypted along with the subsequent outputs of data processing.
Uses explanations and screen prompts in clear English without using colloquialisms or idioms (in order to be more clearly understood and accessible to other non English language cultures as well). 
Uses the standard technical terminology of estimation and modern control but terms are always gently introduced and explained in the simplest most direct manner (but not diluted). Since TK-MIP is visually oriented, there are diagrams, video clips. and flowcharts augmenting the explanations when appropriate. TK-MIP is rigorous but not pedantic and offers pointers throughout to additional references that furnish more detail on each topic.
Utilizes specialized color-coded screens and logically laid out GUI user options to expedite accomplishing expected tasks without hassle.
TK-MIP successfully clones the author’s knowledge and 40+ years of application experience and puts it all on a platter that is easily accessible to others at their own rates and interest levels.





TK-MIP ver. 2.0 with Monte-Carlo simulation capability or can switch to use actual data inputted via RS-232 protocol on serial port 


$499 (U.S.) + S.&H.

TK-MIP ver. 2.0 with Monte-Carlo simulation capability or can switch to use actual data inputted via VXI protocol databuses


$499 (U.S.) + S.&H.

TK-MIP ver. 2.0 with Monte-Carlo simulation capability or can switch to use actual data inputted via GPIB protocol databuses


$499 (U.S.) + S.&H.

TK-MIP ver. 2.0 with Monte-Carlo simulation capability or can switch to use actual data inputted via PXI protocol databuses


$499 (U.S.) + S.&H.

TK-MIP ver. 2.0 with Monte-Carlo simulation capability or can switch to use actual data inputted via PCMCIA protocol databuses


$499 (U.S.) + S.&H.

TK-MIP ver. 2.0 with Monte-Carlo simulation capability or can switch to use actual data inputted via DAQ USB protocol databuses


$499 (U.S.) + S.&H.

TK-MIP ver. 2.0 with Monte-Carlo simulation capability or can switch to use actual data inputted via Ethernet/TCP/IP protocol


$499 (U.S.) + S.&H.

TK-MIP prices may need to increase to accommodate increased prices of component subsystems used in Data Acquisition Hardware (and Software).

Shipping and Handling (S. & H.) via regular mail is $7.00  and is $15.00 via FedEx or UPS Blue. Orders larger than 50 to the same address receive a considerable bulk order discount. Go to Top   Click here for TeK Associates’ physical location and how to get there.

We are pursuing a version of TK-MIP (SKU-8) that can eventually accommodate simultaneous sensor data measurements via all of the above databus protocols and wireless as well as long as they do not conflict with the processors’ physical port access from the back-plane of the chassis. Current and prior versions of TK-MIP were designed to handle out-of-sequence sensor measurement data as long as each individual measurement is time-tagged (synonym: time-stamped), as is usually the case with modern data sensors. Out-of-sequence measurements are handled by TK-MIP only when it is used in the standalone mode. When TK-MIP is used via COM within another application, the out-of-sequence sensor measurements must be handled at the higher level by that specific application since TK-MIP usage via COM will intentionally be handling one measurement at a time (either for a single Kalman filter, for IMM, or for an Extended Kalman filter). However, in the COM mode, TK-MIP also outputs the transition matrix from the prior measurement to the current measurement, as needed for higher level handling of out-of-sequence measurements. Proper methodology for handling these situations is discussed in Bar-Shalom, Y., Chen, H., Mallick, M., “One-Step Solution for the Multi-step Out-Of-Sequence-Measurement Problem in Tracking,” IEEE Trans. on Aerospace and Electronic Systems, Vol. 40, No. 1, pp. 27-37, Jan. 2004,  in Bar-Shalom, Y., Chen, H., “IMM Estimator with Out-of-Sequence Measurements,” IEEE Trans. on Aerospace and Electronic Systems, Vol. 41, No. 1, pp. 90-98, Jan. 2005, and in Bar-Shalom, Y., Chen, H.,  “Removal of Out-Of-Sequence Measurements from Tracks,” IEEE Trans. on Aerospace and Electronic Systems, Vol. 45, No. 2, pp. 612-619, Apr. 2009.

Input/Output Options:

“Missing” I/O is merely recent VITA protocols: USB, VXI, PXI along with older standards: Ethernet, RS-232, GPIB and CAN.

GT8003 (*) ATEasy with a 1-year Subscription and Support and 3-day training at Geotest-Marvin Test Systems in Irvine, CA.

Softwire (U.K.) 

Expected to ship by the 3rd quarter of FY2022! (Temporarily but frequently delayed while we perform full-time assignment tasks for occasional clients as we devote our full attention to them until completed.  From each outside assignment in the estimation area, we obtain additional cutting-edge experience that ultimately serves to feedback and improve this product.)

Return here (starting the 4th quarter of FY2022) for a free download of TK-MIP’s tutorial section (with timed expiration) that also contains an official order form for TK-MIP which can be printed out and mailed back to us for additional security beyond what SSL provides on the Web (even with newer 128-bit encryption, much to everyone’s chagrin). Possessing this sample software allows potential customers to test for themselves and confirm the efficacy and accuracy of the algorithms that we employ (and endorse) before making a financial commitment.  (From our New England background, we can appreciate a potential user exercising such caution and conservatism. We tend to exhibit the same type of cautious approach ourselves in everything, especially with respect to software.) 

Click here for your free download (when we have it ready!)

This download demonstrates our software GUI style and its ease-of-use. We are accustomed to bending over backwards to please our readers and do likewise for our TK-MIP software users. We detest flaws and ambiguity both in software and in its accompanying documentation and so we always strive to keep things as simple as possible (but not more so).  Go to Top

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TeK Associates motto: "We work hard to make your job easier!"