Zhao, Lin, Guan, Dongxue, Landry, René Jr, Cheng, Jianhua et Sydorenko, Kostyantyn.
2015.
« An accurate and fault-tolerant target positioning system for buildings using laser rangefinders and low-cost MEMS-based MARG sensors ».
Sensors, vol. 15, nº 10.
pp. 27060-27086.
Compte des citations dans Scopus : 10.
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Landry R. 2015 11852 An Accurate and Fault-Tolerant Target Positioning System.pdf - Version publiée Télécharger (984kB) | Prévisualisation |
Résumé
Target positioning systems based on MEMS gyros and laser rangefinders (LRs) have extensive prospects due to their advantages of low cost, small size and easy realization. The target positioning accuracy is mainly determined by the LR’s attitude derived by the gyros. However, the attitude error is large due to the inherent noises from isolated MEMS gyros. In this paper, both accelerometer/magnetometer and LR attitude aiding systems are introduced to aid MEMS gyros. A no-reset Federated Kalman Filter (FKF) is employed, which consists of two local Kalman Filters (KF) and a Master Filter (MF). The local KFs are designed by using the Direction Cosine Matrix (DCM)-based dynamic equations and the measurements from the two aiding systems. The KFs can estimate the attitude simultaneously to limit the attitude errors resulting from the gyros. Then, the MF fuses the redundant attitude estimates to yield globally optimal estimates. Simulation and experimental results demonstrate that the FKF-based system can improve the target positioning accuracy effectively and allow for good fault-tolerant capability.
| Type de document: | Article publié dans une revue, révisé par les pairs |
|---|---|
| Professeur: | Professeur Landry, René Jr |
| Affiliation: | Génie électrique |
| Date de dépôt: | 27 nov. 2015 16:13 |
| Dernière modification: | 05 avr. 2018 15:01 |
| URI: | https://espace2.etsmtl.ca/id/eprint/11852 |
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