期刊
INTERNATIONAL JOURNAL OF FUZZY LOGIC AND INTELLIGENT SYSTEMS
卷 17, 期 2, 页码 121-128出版社
KOREAN INST INTELLIGENT SYSTEMS
DOI: 10.5391/IJFIS.2017.17.2.121
关键词
Position estimation; Velocity estimation; Kalman filter; Sensor fusion; Map based GPS error correction
资金
- Seokyeong University
In this paper, we propose a fusion algorithm of multifarious and multiple sensors to enhance the accuracy and reliability of position and velocity estimation for the vehicles. We proposed an adaptive Kalman filter for multiple sensor fusion to provide a fault tolerant estimation. We verified the multiple sensor fusion estimator can provide a fault tolerant estimation through Matlab simulation and laboratory equipped experiments. We also proposed a fusion algorithm of multifarious sensors in order to enhance the velocity estimation accuracy. We proposed a Kalman filter error correction for compensate the accumulative error in the main sensor with the other type of sensor which has characteristic of biased error. We also developed a fusion algorithm for compensate the error in the position measuring with the velocity measuring. We made experiments for estimating position and velocity of vehicle simultaneously through the fusion of multifarious and multiple sensors and showed that average position error was 1.5764 m and average velocity accuracy was 99.81%.
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