Design of an EKF-CI based Sensor Fusion for Robust Heading Estimation of Marine Vehicle

다국어 초록 (Multilingual Abstract)

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.

참고문헌 (Reference)

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