Multi-Source Adaptive Selection and Fusion for Pedestrian Dead Reckoning

doi:10.1109/JAS.2021.1004144

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Multi-Source Adaptive Selection and Fusion for Pedestrian Dead Reckoning
	Yuanxun Zheng; Qinghua Li; Changhong Wang; Xiaoguang Wang; Lifeng Hu
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:12 页码:2174-2185
摘要	Accurate multi-source fusion is based on the reliability, quantity, and fusion mode of the sources. The problem of selecting the optimal set for participating in the fusion process is nondeterministic-polynomial-time-hard and is neither sub-modular nor super-modular. Furthermore, in the case of the Kalman filter (KF) fusion algorithm, accurate statistical characteristics of noise are difficult to obtain, and this leads to an unsatisfactory fusion result. To settle the referred cases, a distributed and adaptive weighted fusion algorithm based on KF has been proposed in this paper. In this method, on the basis of the pseudo prior probability of the estimated state of each source, the reliability of the sources is evaluated and the optimal set is selected on a certain threshold. Experiments were performed on multi-source pedestrian dead reckoning for verifying the proposed algorithm. The results obtained from these experiments indicate that the optimal set can be selected accurately with minimal computation, and the fusion error is reduced by 16.6% as compared to the corresponding value resulting from the algorithm without improvements. The proposed adaptive source reliability and fusion weight evaluation is effective against the varied-noise multi-source fusion system, and the fusion error caused by inaccurate statistical characteristics of the noise is reduced by the adaptive weight evaluation. The proposed algorithm exhibits good robustness, adaptability, and value on applications.
关键词	Adaptive reliability evaluation adaptive weight evaluation Kalman filter (KF) multi-source fusion optimal set selection
DOI	10.1109/JAS.2021.1004144
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/50587
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yuanxun Zheng,Qinghua Li,Changhong Wang,et al. Multi-Source Adaptive Selection and Fusion for Pedestrian Dead Reckoning[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(12):2174-2185.
APA	Yuanxun Zheng,Qinghua Li,Changhong Wang,Xiaoguang Wang,&Lifeng Hu.(2022).Multi-Source Adaptive Selection and Fusion for Pedestrian Dead Reckoning.IEEE/CAA Journal of Automatica Sinica,9(12),2174-2185.
MLA	Yuanxun Zheng,et al."Multi-Source Adaptive Selection and Fusion for Pedestrian Dead Reckoning".IEEE/CAA Journal of Automatica Sinica 9.12(2022):2174-2185.

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