Drone-Based Cable-Suspended Payload Tracking and Estimation Using Simulated LiDAR Measurements and an Extended Kalman Filter

2022 ◽  
Author(s):  
Mitesh S. Patel ◽  
Philip A. Ferguson
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Lidar Measurements

scholarly journals Performance evaluation of GPS / BDS combined single-point positioning based on RTKLIB

2020 ◽  
Vol 165 ◽  
pp. 03009
Author(s):  
Li Yan-yi ◽  
Huang Jin ◽  
Tang Ming-xiu
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Single Point ◽  
Least Square Method ◽  
Least Square ◽  
Filter Method ◽  
Single System ◽  
Positioning Error ◽  
Dual Mode ◽  
Kalman Filter Method

In order to evaluate the performance of GPS / BDS, RTKLIB, an open-source software of GNSS, is used in this paper. In this paper, the least square method, the weighted least square method and the extended Kalman filter method are respectively applied to BDS / GPS single system for data solution. Then, the BDS system and GPS system are used for fusion positioning and the positioning results of the two systems are compared with that of the single system. Through the comparison of experiments, on the premise of using the extended Kalman filter method for positioning, when the GPS signal is not good, BDS data is introduced for dual-mode positioning, the positioning error in e direction is reduced by 36.97%, the positioning error in U direction is reduced by 22.95%, and the spatial positioning error is reduced by 16.01%, which further reflects the advantages of dual-mode positioning in improving a system robustness and reducing the error.

Comparison of different SLAM approaches for a driverless race car

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Nick Le Large ◽  
Frank Bieder ◽  
Martin Lauer
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Ground Truth ◽  
Time Constraints ◽  
Differential Gps ◽  
Real World Data ◽  
Race Car ◽  
Localization And Mapping ◽  
Slam Algorithm ◽  
Computational Resources

Abstract For the application of an automated, driverless race car, we aim to assure high map and localization quality for successful driving on previously unknown, narrow race tracks. To achieve this goal, it is essential to choose an algorithm that fulfills the requirements in terms of accuracy, computational resources and run time. We propose both a filter-based and a smoothing-based Simultaneous Localization and Mapping (SLAM) algorithm and evaluate them using real-world data collected by a Formula Student Driverless race car. The accuracy is measured by comparing the SLAM-generated map to a ground truth map which was acquired using high-precision Differential GPS (DGPS) measurements. The results of the evaluation show that both algorithms meet required time constraints thanks to a parallelized architecture, with GraphSLAM draining the computational resources much faster than Extended Kalman Filter (EKF) SLAM. However, the analysis of the maps generated by the algorithms shows that GraphSLAM outperforms EKF SLAM in terms of accuracy.

Sign in / Sign up

Export Citation Format

Share Document