Kalman Filter Fusion Algorithm Research Articles

Unstructured environment navigation and trajectory calibration technology based on multi-data fusion

In order to effectively improve the accuracy and efficiency of unstructured environment navigation and trajectory calibration, a multi data fusion based unstructured environment navigation and trajectory calibration method was studied. Described the basic principles of the Strapdown Inertial Navigation System and Doppler Log. After introducing DVL velocity information and relative position information of underwater robots into SINS, the Kalman filter fusion algorithm was used to obtain the system's state equation and measurement equation. The navigation parameter error and device error parameters of the system were selected as the state variables. The difference between SINS output speed and DVL measurement speed, as well as the difference between SINS output position and relative position, are used as the speed and position measurements of the measurement system. Error estimation is obtained through indirect filtering, and the accuracy of navigation and positioning is improved through output correction. The experimental results show that the proposed method has a good calibration effect and can effectively improve the accuracy and efficiency of trajectory calibration in unstructured environments.

Anti-delay Kalman filter fusion algorithm for inter-vehicle sensor network with finite-step convergence

Intelligent vehicle applications in autonomous driving and obstacle avoidance commonly require the precise relative state of vehicles. Accordingly, this study focuses on the coordinate fusion of vehicle state problem experienced by an inter-vehicle sensor network with time-varying transmission delays. Using the ingeniously designed low-complexity integration with a consensus strategy and buffer technology, an anti-delay distributed Kalman filter (DKF) with finite-step convergence is proposed. By introducing an appropriate weight matrix to assess local estimates, the optimal fusion state result is available as a linear minimum variance. In addition, to accommodate practical engineering in intelligent vehicles, the communication weight coefficient and directed topology with unidirectional transmission are considered. From a theoretical perspective, the proof of error covariances’ upper bounds with different communication topologies with delays are presented. Furthermore, the maximum allowable delays of inter-vehicle sensor network are derived backwards. Simulations verify that while considering the various non-ideal factors presented above, the proposed DFK algorithm produces more accurate and robust fusion estimation state results than those of the existing algorithms, making it more valuable in practical applications. Moreover, a mobile car trajectory tracking experiment is conducted, which further verifies the feasibility of the proposed algorithm.

Online monitoring system of material moisture content based on the Kalman filter fusion algorithm in air-impingement dryer

A Kalman filter fusion algorithm was proposed, and an online monitoring system was developed for real-time monitoring of the moisture content of materials in an air-impingement dryer. The Kalman filter algorithm was used to estimate the optimal state of the original detection values of the weighting sensor and air velocity sensor. A backpropagation (BP) neural network fusion model was established, where the weight detection value, elastic substrate temperature, air velocity, and impingement distance were considered inputs and the real weight of the material was the output. The optimal topology of the BP neural network was selected, and the initial weights and thresholds of the BP neural network were optimized using a genetic algorithm. The coefficient of determination (R2) and root mean square error (RMSE) of the optimized BP neural network fusion model were 0.9995 and 4.9, respectively. The Kalman filter fusion algorithm, which can realize online monitoring of moisture content, was established using the Kalman filter algorithm and fusion model. Moreover, an online monitoring system for material moisture content was developed, validation experiments were carried out, and the R2 and RMSE of the nine sets of validation experiments were 0.9963 and 0.78, respectively. The monitoring system satisfied the requirements of material moisture content detection accuracy in the drying process. The developed monitoring system is greatly important for improving the automation level of the drying equipment for fruits and vegetables. The proposed Kalman filter fusion algorithm also provides a reference for other multifactor fusion detection.

Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader

Pose measurement of coal mine excavation equipment is an important part of roadway excavation. However, in the underground mining roadway of coal mine, there are some influencing factors such as low illumination, high dust and interference from multiple equipment, which lead to the difficulty in the position and pose measurement of roadheader with low measurement accuracy and poor stability. A combination positioning method based on machine vision and optical fiber inertial navigation is proposed to realize the position and pose measurement of roadheader and improve the accuracy and stability of the position and pose measurement. The visual measurement model of arm roadheader is established, and the optical fiber inertial navigation technology and the spatial coordinate transformation method are used. Finally, the Kalman filter fusion algorithm is used to fuse the two kinds of data to get the accurate roadheader pose data, and the inertia is compensated and corrected. Underground coal mine experiments are designed to verify the performance of the proposed method. The results show that the positioning error of the roadheader body using this method is within 40 mm, which meets the positioning accuracy requirements of roadway construction. This method compensates for the shortcomings of low accuracy and poor reliability of single vision measurement, single inertial navigation measurement and single odometer measurement.

Pose Measurement Technology of Roadheader Body based on Fusion of Visual and SINS*

In order to solve the problem of pose measurement of roadheader body in low illumination and high dust environment in coal mine, a pose measurement technology of roadheader body based on visual and strapdown inertial navigation system (SINS) is proposed. By extracting the point and line features and using the monocular vision positioning principle based on the gate three lines, the spatial pose of the roadheader body measured by vision is obtained according to the spatial matrix transformation. At the same time, the spatial pose of the roadheader body measured by SINS is calculated by gyroscope and accelerometer. Then the least square method is used to align the two-sensor data, and the registration data is fused based on the extended Kalman filter fusion algorithm to obtain the final fusion roadheader pose data. The experimental results show that the measurement error of the roadheader body position in the x axis direction of the roadway coordinate system is less than ± 20 mm, the error of the y axis direction is less than ±35 mm, the error of the z axis direction is less than ± 10 mm, the yaw angle error is between-0.4° to 0.7°, the roll angle error is between -0.2° and 0.6°, and the pitch angle error is between -0.02° and 0.5°. This method can be used to measure the pose of the roadheader stably and accurately in the complex environment of high dust, miscellaneous light and low illumination.

Research on indoor positioning and navigation method of AGV based on multi-sensor fusion

In comparison with current AGV indoor positioning and navigation methods, the combination of IMU+2D LiDAR is prone to signal loss and cumulative error in indoor, so we propose an AGV indoor navigation and positioning method with multi-sensor fusion of odometer, IMU, LiDAR, and UWB. The model is based on the traceless Kalman filter fusion algorithm, and the UWB positioning provides accurate initial coordinates for the traceless Kalman filter. To verify the feasibility of the method, simulations and experiments are done on MatlabR2020a and experimental platform. The results show that the UWB localization can reduce the accumulated errors brought by IMU, the traceless Kalman filter has good trajectory fitting, the method has good performance in system stability and localization accuracy, and achieves the expected goal.

Fusion and detection for multi-sensor systems under false data injection attacks

This article investigates a security problem in cyber–physical systems under multisensory framework. Data packets from each sensor are transmitted to a remote estimator through wireless channels which could be attacked by a attacker and injected false data. Based on the data of reliable sensors and the relativity between reliable and unreliable sensors, a revised multi-sensor Kalman filter fusion algorithm is proposed. Under the proposed algorithm, an optimal linear false data injection attack strategy which is more general with an arbitrary mean of Gaussian distribution is designed. To further improve the detection performance, an Expected SARSA-based attack detection algorithm is proposed. Finally, simulation results based on an unmanned aerial vehicle are provided to illustrate the feasibility and efficiency of the obtained results.

Millimeter-Wave Radar and Video Fusion Vehicle Detection based on Adaptive Kalman Filtering

Road traffic safety has always been the focus of social concern, and the actual road traffic scenes, where only a single sensor is applied cannot cope with the interference brought by complex external factors, which makes vehicle detection extremely challenging. This paper focuses on a vehicle detection algorithm for the fusion of millimeter-wave radar sensor and monocular camera sensor, including the calibration of millimeter-wave radar and camera, the establishment of a temporal fusion model of the two sensors. Finally, the target information obtained from the two sensors is fused with the data using the adaptive Kalman filter fusion algorithm, which can reduce data ambiguity and increase the reliability and validity of the data. Experiments show that the method can overcome the shortcomings of single sensor in target detection, and the obtained target information is more comprehensive compared with the monocular camera detection results.

Novel indoor positioning algorithm based on Lidar/inertial measurement unit integrated system

As an important research field of mobile robot, simultaneous localization and mapping technology is the core technology to realize intelligent autonomous mobile robot. Aiming at the problems of low positioning accuracy of Lidar (light detection and ranging) simultaneous localization and mapping with nonlinear and non-Gaussian noise characteristics, this article presents a mobile robot simultaneous localization and mapping method that combines Lidar and inertial measurement unit to set up a multi-sensor integrated system and uses a rank Kalman filtering to estimate the robot motion trajectory through inertial measurement unit and Lidar observations. Rank Kalman filtering is similar to the Gaussian deterministic point sampling filtering algorithm in structure, but it does not need to meet the assumptions of Gaussian distribution. It completely calculates the sampling points and the sampling points weights based on the correlation principle of rank statistics. It is suitable for nonlinear and non-Gaussian systems. With multiple experimental tests of small-scale arc trajectories, we can see that compared with the alone Lidar simultaneous localization and mapping algorithm, the new algorithm reduces the mean error of the indoor mobile robot in the X direction from 0.0928 m to 0.0451 m, with an improved accuracy rate of 46.39%, and the mean error in the Y direction from 0.0772 m to 0.0405 m, which improves the accuracy rate of 48.40%. Compared with the extended Kalman filter fusion algorithm, the new algorithm reduces the mean error of the indoor mobile robot in the X direction from 0.0597 m to 0.0451 m, with an improved accuracy rate of 24.46%, and the mean error in the Y direction from 0.0537 m to 0.0405 m, which improves the accuracy rate of 24.58%. Finally, we also tested on a large-scale rectangular trajectory, compared with the extended Kalman filter algorithm, rank Kalman filtering improves the accuracy of 23.84% and 25.26% in the X and Y directions, respectively, it is verified that the accuracy of the algorithm proposed in this article has been improved.

Optimal distributed Kalman filtering fusion for multirate multisensor dynamic systems with correlated noise and unreliable measurements

An optimal distributed fusion estimation problem is concerned in this study for a kind of linear dynamic multirate sensors systems with correlated noise and stochastic unreliable measurements. The system is formulated at the finest scale with multiple sensors at different scales observing a common target independently with different sampling rates. The noise between different sensors is relevant, moreover, is also correlated with the system noise. The authors derive the local state estimation algorithms under the circumstance of total reliable measurements and stochastic unreliable measurements occur occasions, and the optimal distributed Kalman filter fusion algorithm, respectively. The authors provide a simulation example to illustrate the effectiveness and feasibility of the proposed algorithm.

An indoor mobile robot navigation technique using odometry and electronic compass

A novel method of indoor mobile robot navigation is presented. The proposed approach fuses the data of odometry and electronic compass for navigation. It includes two calibration methods and a fusion algorithm. First of all, calibration method of systematic odometry error is used to reduce the error of navigation and provide the reliable estimate of pose of mobile robot for adaptive extended Kalman filter fusion algorithm later. Secondly, calibration method of electronic compass using an adaptive neural fuzzy inference system provides direction angle of mobile robot as observation for adaptive extended Kalman filter algorithm later. Finally, a fusion algorithm using adaptive extended Kalman filter algorithm fuses data of odometry and electronic compass that provides the position and orientation of mobile robot. In addition, the value of the parameter k of adaptive extended Kalman filter algorithm which is related to the process noise covariance is decided by fuzzy algorithm. In order to illustrate the feasibility of the proposed approach, two types of experiments are done: the first-type experiment is that the mobile robot runs along default path only with odometry, and the mobile robot with odometry and electronic compass in the second-type experiment utilizes the proposed approach for navigation. The results of experiments show that the error of localization and navigation in the first-type experiment is larger than one in the second-type experiment. They prove the good performance of the proposed approach.

Weighted Measurement Fusion Kalman Filter for Multisensor Descriptor System

For the multi-sensor descriptor system with correlated measurement noises and same measurement matrix, the reduced-order sub-systems are obtained, applying singular value decomposition method. And measurements of every sensor are transformed to the measurement of one state component. For this new reduced-order normal system, the new fused measurement can be obtained applying the weighted least squares method. Then, the weighted measurement fusion Kalman filter and its filtering error variance are presented, applying a single Kalman filter. This method avoids computing the cross-variances among all local filters, compared with the state fusion Kalman filtering algorithm. And the accuracy of this fused filter is higher than that of local filter and state fusion Kalman filter. A simulation example verifies its effectiveness.

Distributed weighted robust Kalman filter fusion for uncertain systems with autocorrelated and cross-correlated noises

In this paper, the problem of distributed weighted robust Kalman filter fusion is studied for a class of uncertain systems with autocorrelated and cross-correlated noises. The system under consideration is subject to stochastic uncertainties or multiplicative noises. The process noise is assumed to be one-step autocorrelated. For each subsystem, the measurement noise is one-step autocorrelated, and the process noise and the measurement noise are two-step cross-correlated. An optimal robust Kalman-type recursive filter is first designed for each subsystem. Then, based on the newly obtained optimal robust Kalman-type recursive filter, a distributed weighted robust Kalman filter fusion algorithm is derived for uncertain systems with multiple sensors. The distributed fusion algorithm involves a recursive computation of the filtering error cross-covariance matrix between any two subsystems. Compared with the centralized Kalman filter, the distributed weighted robust Kalman filter developed in this paper has stronger fault-tolerance ability. Simulation results are provided to demonstrate the effectiveness of the proposed approaches.