Sensor Fusion in Case of Aliquant Sample Repetition Frequiencies of Measurements and Output Estimates
The problem of measurement fusion from two sensors with no coincident pairs of measurement at any time is considered. Besides, the required moments of returning the result also lie between indication times. Several association algorithms based on Kalman filtering both with use of the centralized fil...
| Main Authors: | , |
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| Format: | Article |
| Language: | Russian |
| Published: |
The Fund for Promotion of Internet media, IT education, human development «League Internet Media»
2020-11-01
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| Series: | Современные информационные технологии и IT-образование |
| Subjects: | |
| Online Access: | http://sitito.cs.msu.ru/index.php/SITITO/article/view/680 |
| _version_ | 1818883203344105472 |
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| author | Valeriy Ponyatsky Boris Zenov |
| author_facet | Valeriy Ponyatsky Boris Zenov |
| author_sort | Valeriy Ponyatsky |
| collection | DOAJ |
| description | The problem of measurement fusion from two sensors with no coincident pairs of measurement at any time is considered. Besides, the required moments of returning the result also lie between indication times. Several association algorithms based on Kalman filtering both with use of the centralized filter, and on the basis of two parallel local filters as a part of decentralized filtration approach are proposed. Filter parameter adjustment to operation at non-equidistant times is described. The options for combining the assessments of the process state inside the filtration loop and outside it are considered. Comparison of methods is carried out in terms of the relative mean square error value of result estimate. The case of uniformly precise measurements and a case when the noise level into indications of sensors considerably differs are separately analyzed. The operability of methods is investigated at various values of bandwidth determined by a ratio of process noise intensity and the measurement noise one. |
| first_indexed | 2024-12-19T15:29:55Z |
| format | Article |
| id | doaj.art-422b2a3be2eb43bcaa457bbaf73ef5f1 |
| institution | Directory Open Access Journal |
| issn | 2411-1473 |
| language | Russian |
| last_indexed | 2024-12-19T15:29:55Z |
| publishDate | 2020-11-01 |
| publisher | The Fund for Promotion of Internet media, IT education, human development «League Internet Media» |
| record_format | Article |
| series | Современные информационные технологии и IT-образование |
| spelling | doaj.art-422b2a3be2eb43bcaa457bbaf73ef5f12022-12-21T20:15:46ZrusThe Fund for Promotion of Internet media, IT education, human development «League Internet Media»Современные информационные технологии и IT-образование2411-14732020-11-0116357558110.25559/SITITO.16.202003.575-581Sensor Fusion in Case of Aliquant Sample Repetition Frequiencies of Measurements and Output EstimatesValeriy Ponyatsky0https://orcid.org/0000-0001-8326-165XBoris Zenov1https://orcid.org/0000-0003-1914-8892KBP Instrument Design BureauKBP Instrument Design BureauThe problem of measurement fusion from two sensors with no coincident pairs of measurement at any time is considered. Besides, the required moments of returning the result also lie between indication times. Several association algorithms based on Kalman filtering both with use of the centralized filter, and on the basis of two parallel local filters as a part of decentralized filtration approach are proposed. Filter parameter adjustment to operation at non-equidistant times is described. The options for combining the assessments of the process state inside the filtration loop and outside it are considered. Comparison of methods is carried out in terms of the relative mean square error value of result estimate. The case of uniformly precise measurements and a case when the noise level into indications of sensors considerably differs are separately analyzed. The operability of methods is investigated at various values of bandwidth determined by a ratio of process noise intensity and the measurement noise one.http://sitito.cs.msu.ru/index.php/SITITO/article/view/680kalman filtersensor fusionnon-equally accurate measurementcentralized filterlocal filtersinertialess averageprocess noisemeasurement noise |
| spellingShingle | Valeriy Ponyatsky Boris Zenov Sensor Fusion in Case of Aliquant Sample Repetition Frequiencies of Measurements and Output Estimates Современные информационные технологии и IT-образование kalman filter sensor fusion non-equally accurate measurement centralized filter local filters inertialess average process noise measurement noise |
| title | Sensor Fusion in Case of Aliquant Sample Repetition Frequiencies of Measurements and Output Estimates |
| title_full | Sensor Fusion in Case of Aliquant Sample Repetition Frequiencies of Measurements and Output Estimates |
| title_fullStr | Sensor Fusion in Case of Aliquant Sample Repetition Frequiencies of Measurements and Output Estimates |
| title_full_unstemmed | Sensor Fusion in Case of Aliquant Sample Repetition Frequiencies of Measurements and Output Estimates |
| title_short | Sensor Fusion in Case of Aliquant Sample Repetition Frequiencies of Measurements and Output Estimates |
| title_sort | sensor fusion in case of aliquant sample repetition frequiencies of measurements and output estimates |
| topic | kalman filter sensor fusion non-equally accurate measurement centralized filter local filters inertialess average process noise measurement noise |
| url | http://sitito.cs.msu.ru/index.php/SITITO/article/view/680 |
| work_keys_str_mv | AT valeriyponyatsky sensorfusionincaseofaliquantsamplerepetitionfrequienciesofmeasurementsandoutputestimates AT boriszenov sensorfusionincaseofaliquantsamplerepetitionfrequienciesofmeasurementsandoutputestimates |