Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter

doi:10.1007/s11633-017-1065-z

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	Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter
	Derradji Nada1 Mounir Bousbia-Salah 2; Maamar Bettayeb 1
刊名	International Journal of Automation and Computing
	2018
卷号	15 期号:2 页码:207-217
关键词	Data fusion unscented Kalman filter (UKF) measurement fusion (MF) navigation state vector fusion (SVF) wheelchair.
ISSN号	1476-8186
DOI	10.1007/s11633-017-1065-z
英文摘要	This paper investigates the problem of estimation of the wheelchair position in indoor environments with noisy measurements. The measuring system is based on two odometers placed on the axis of the wheels combined with a magnetic compass to determine the position and orientation. Determination of displacements is implemented by an accelerometer. Data coming from sensors are combined and used as inputs to unscented Kalman filter (UKF). Two data fusion architectures: measurement fusion (MF) and state vector fusion (SVF) are proposed to merge the available measurements. Comparative studies of these two architectures show that the MF architecture provides states estimation with relatively less uncertainty compared to SVF. However, odometers measurements determine the position with relatively high uncertainty followed by the accelerometer measurements. Therefore, fusion in the navigation system is needed. The obtained simulation results show the effectiveness of proposed architectures.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42403]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.Department of Electrical and Computer Engineering, College of Engineering, University of Sharjah, United Arab Emirates 2.LASA laboratory, Department of Electronics, Faculty of Engineering, Badji Mokhtar Annaba University, BP 12, Annaba 23000, Algeria
推荐引用方式 GB/T 7714	Derradji Nada1 Mounir Bousbia-Salah,Maamar Bettayeb. Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter[J]. International Journal of Automation and Computing,2018,15(2):207-217.
APA	Derradji Nada1 Mounir Bousbia-Salah,&Maamar Bettayeb.(2018).Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter.International Journal of Automation and Computing,15(2),207-217.
MLA	Derradji Nada1 Mounir Bousbia-Salah,et al."Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter".International Journal of Automation and Computing 15.2(2018):207-217.