scholarly journals An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles

2018 ◽  
Vol 100 ◽  
pp. 605-616 ◽  
Author(s):  
Yahui Liu ◽  
Xiaoqian Fan ◽  
Chen Lv ◽  
Jian Wu ◽  
Liang Li ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Information Fusion ◽  
Autonomous Vehicles ◽  
Fusion Method ◽  
Adaptive Kalman Filter ◽  
Gps Navigation

Low cost automation using INS/GPS data fusion for accurate positioning

Robotica ◽  
2003 ◽  
Vol 21 (3) ◽  
pp. 255-260 ◽  
Author(s):  
J. Z. Sasiadek ◽  
Q. Wang
Keyword(s):  
Kalman Filter ◽  
Global Positioning System ◽  
Autonomous Vehicles ◽  
Low Cost ◽  
Real Time Control ◽  
Adaptive Kalman Filter ◽  
Time Control ◽  
Global Positioning ◽  
And Control ◽  
Fuzzy Adaptive

Low cost automation often requires accurate positioning. This happens whenever a vehicle or robotic manipulator is used to move materials, parts or minerals on the factory floor or outdoors. In last few years, such vehicles and devices are mostly autonomous. This paper presents the method of sensor fusion based on the Adaptive Fuzzy Kalman Filtering. This method has been applied to fuse position signals from the Global Positioning System (GPS) and Inertial Navigation System (INS) for the autonomous mobile vehicles. The presented method has been validated in 3-D environment and is of particular importance for guidance, navigation, and control of mobile, autonomous vehicles. The Extended Kalman Filter (EKF) and the noise characteristic have been modified using the Fuzzy Logic Adaptive System and compared with the performance of regular EKF. It has been demonstrated that the Fuzzy Adaptive Kalman Filter gives better results (more accurate) than the EKF. The presented method is suitable for real-time control and is relatively inexpensive. Also, it applies to fusion process with sensors different than INS or GPS.

scholarly journals The Fractional Kalman Filter-Based Asynchronous Multirate Sensor Information Fusion

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Guangyue Xue ◽  
Yubin Xu ◽  
Jing Guo ◽  
Wei Zhao
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Information Fusion ◽  
The State ◽  
Fusion Method ◽  
Fusion Algorithm ◽  
Current Time ◽  
Delay Measurement ◽  
Delayed Measurement ◽  
Sensor Information

A fractional Kalman filter-based multirate sensor fusion algorithm is presented to fuse the asynchronous measurements of the multirate sensors. Based on the characteristics of multirate and delay measurement, the state is reestimated at the time when the delayed measurement occurs by using weighted fractional Kalman filter, and then the state estimation is updated at the current time when the delayed measurement arrives following the similar pattern of Kalman filter. The simulation examples are given to illustrate the effectiveness of the proposed fusion method.

Fuzzy adaptive Kalman filter for the drive system with an elastic coupling

2013 ◽  
Vol 62 (2) ◽  
pp. 251-265 ◽  
Author(s):  
Piotr J. Serkies ◽  
Krzysztof Szabat
Keyword(s):  
Kalman Filter ◽  
Control Structure ◽  
Experimental Tests ◽  
Drive System ◽  
Adaptive Kalman Filter ◽  
State Matrix ◽  
State Controller ◽  
Kalman Gain ◽  
Robust Adaptive ◽  
Fuzzy Adaptive

Abstract In the paper issues related to the design of a robust adaptive fuzzy estimator for a drive system with a flexible joint is presented. The proposed estimator ensures variable Kalman gain (based on the Mahalanobis distance) as well as the estimation of the system parameters (based on the fuzzy system). The obtained value of the time constant of the load machine is used to change the values in the system state matrix and to retune the parameters of the state controller. The proposed control structure (fuzzy Kalman filter and adaptive state controller) is investigated in simulation and experimental tests.

Fault Classification of Hydroelectric Generating Unit Based on Improved Evidence Theory

2014 ◽  
Vol 7 (1) ◽  
pp. 78-83 ◽  
Author(s):  
Jiatang Cheng ◽  
Li Ai ◽  
Zhimei Duan ◽  
Yan Xiong
Keyword(s):  
Fault Diagnosis ◽  
Information Fusion ◽  
Evidence Theory ◽  
Fault Classification ◽  
Fusion Method ◽  
Inconsistent Result ◽  
High Conflict

Aiming at the problem of the conventional vibration fault diagnosis technology with inconsistent result of a hydroelectric generating unit, an information fusion method was proposed based on the improved evidence theory. In this algorithm, the original evidence was amended by the credibility factor, and then the synthesis rule of standard evidence theory was utilized to carry out information fusion. The results show that the proposed method can obtain any definitive conclusion even if there is high conflict evidence in the synthesis evidence process, and may avoid the divergent phenomenon when the consistent evidence is fused, and is suitable for the fault classification of hydroelectric generating unit.

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