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Information Fusion Filter for Multi-rate Multi-sensor Systems
Jing Ma,Hao Jin,Tian Tian,Wei Zhang 보안공학연구지원센터 2015 International Journal of Multimedia and Ubiquitous Vol.10 No.1
This paper is concerned with the information fusion filtering problem for a class of multi-rate multi-sensor systems, where the system is described at the highest sampling rate and different sensors may have different lower sampling rates. Firstly, the local filters (LFs) at state updating points are proposed by using the LFs at measurement sampling points. Then, the distributed suboptimal fusion filter is obtained by the well-known covariance intersection fusion (CIF) algorithm. The filtering error variance matrices are derived to obtain the fusion weights. The computational cost is reduced since the cross-covariance matrices between any two local filters are avoided. Simulation example verifies the correctness and feasibility of the proposed algorithm.
DIND Data Fusion with Covariance Intersection in Intelligent Space with Networked Sensors
TaeSeok Jin,Hideki Hashimoto 한국지능시스템학회 2007 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.7 No.1
Latest advances in network sensor technology and state of the art of mobile robot, and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. In this study, as the preliminary step for developing a multi-purpose “Intelligent Space” platform to implement advanced technologies easily to realize smart services to human. We will give an explanation for the ISpace system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the DIND data fusion with CI of Intelligent Space. We will conclude by discussing some possible future extensions of ISpace. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions tracking multiple objects, human detection and motion assessment, with the results from the simulations run.
DIND Data Fusion with Covariance Intersection in Intelligent Space with Networked Sensors
Jin, Tae-Seok,Hashimoto, Hideki Korean Institute of Intelligent Systems 2007 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.7 No.1
Latest advances in network sensor technology and state of the art of mobile robot, and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. In this study, as the preliminary step for developing a multi-purpose "Intelligent Space" platform to implement advanced technologies easily to realize smart services to human. We will give an explanation for the ISpace system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the DIND data fusion with CI of Intelligent Space. We will conclude by discussing some possible future extensions of ISpace. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions tracking multiple objects, human detection and motion assessment, with the results from the simulations run.
Design of an EKF-CI based Sensor Fusion for Robust Heading Estimation of Marine Vehicle
VISTA FELIPE PATINO,이덕진,정길도 한국정밀공학회 2015 International Journal of Precision Engineering and Vol.16 No.2
An efficient approach for deriving accurate pose and heading values through multi-sensor fusion of data from several inexpensivesensors (such as multiple GPS (Global Positioning Systems), EC (electronic compass), rate gyro) is presented. The proposed multisensorfusion approach is composed of several sub-methods namely initial heading calculation, classification and weighing (CnW),extended Kalman filter (EKF) and then covariance intersection (CI) algorithms. The consecutive implementation of the sub-methodsgives an accurate heading value with lesser RMSE (root mean square error) compared to the original GPS COG (course over ground)and EC. Several experimental tests were done to confirm the good performance of the proposed process.
Multi-Sensor Information Fusion Predictive Control Algorithm
Ming Zhao,Yun Li,Gang Hao 보안공학연구지원센터 2016 International Journal of Multimedia and Ubiquitous Vol.11 No.4
The multi-sensor information fusion predictive control algorithm for discrete-time linear time-invariant stochastic control system is presented in this paper. This algorithm combines the fusion steady-state Kalman filter with the predictive control. It avoids the complex Diophantine equation and it can obviously reduce the computational burden. The algorithm can deal with the multi-sensor discrete-time linear time-invariant stochastic controllable system based on the linear minimum variance optimal information fusion criterion. The fusion method includes the centralized fusion, matrices weighted and the covariance intersection fusion. Under the linear minimum variance optimal information fusion criterion, the calculation formula of optimal weighting coefficients have be given in order to realize matrices weighted. To avoid the calculation of cross-covariance matrices, another distributed fusion filter is also presented by using the covariance intersection fusion algorithm, which can reduce the computational burden. And the relationship between the accuracy and the computation complexities among the three fusion algorithm are analyzed. Compared with the single sensor case, the accuracy of the fused filter is greatly improved. A simulation example of the target tracking controllable system with two sensors shows its effectiveness and correctness.
Navigation methods for autonomous and partially autonomous mobile systems
Thomas KAMPKE 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2001 International Journal of Assistive Robotics and Me Vol.2 No.4
A vital problem in mobile robotics of various degrees of autonomy is registration or "matching". These problems dwell on different information which can be acquired in any form ranging from pre-compiled to online. Two concepts are presented which allow many ramifications and which have led to several applications.
Global Map Building and Navigation of Mobile Robot Based on Ultrasonic Sensor Data Fusion
ShinChul Kang,TaeSeok Jin 한국지능시스템학회 2007 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.7 No.3
In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.
Global Map Building and Navigation of Mobile Robot Based on Ultrasonic Sensor Data Fusion
Kang, Shin-Chul,Jin, Tae-Seok Korean Institute of Intelligent Systems 2007 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.7 No.3
In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.