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

doi:10.1007/s11633-017-1065-z

CASIA OpenIR > 学术期刊 > Machine Intelligence Research

	Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter
	Derradji Nada1 Mounir Bousbia-Salah 1; Maamar Bettayeb 2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2018
卷号	15 期号:2 页码:207-217
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.
关键词	Data fusion unscented Kalman filter (UKF) measurement fusion (MF) navigation state vector fusion (SVF) wheelchair.
DOI	10.1007/s11633-017-1065-z
引用统计	被引频次：39[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42403
专题	学术期刊_Machine Intelligence Research
作者单位	1.LASA laboratory, Department of Electronics, Faculty of Engineering, Badji Mokhtar Annaba University, BP 12, Annaba 23000, Algeria 2.Department of Electrical and Computer Engineering, College of Engineering, University of Sharjah, United Arab Emirates
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.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
IJAC-2015-07-235.pdf（12738KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载