Proceedings of the 2016 4th International Conference on Machinery, Materials and Computing Technology

Research Multi-Sensor Data Fusion Algorithm based on the adaptive cubature kalman filter

Authors
Xiuguo Zhang
Corresponding Author
Xiuguo Zhang
Available Online March 2016.
DOI
https://doi.org/10.2991/icmmct-16.2016.162How to use a DOI?
Keywords
Cubature kalman filter; adaptive; noise statistic estimator; correction function; integrated filtering; data fusion.
Abstract
Cubature kalman filter is prone to filtering divergence if the system model is inaccurate or measuring abnormal. In order to solve this problem, the adaptive cubature kalman filter algorithm was proposed in this paper, it constructed a group of noise statistic estimators to estimate the statistical characteristic of the noise in real time; and when the measurement anomaly, it adopted correction function to adjust the filtering process, and thus the estimation accuracy and the ability to restrain the filtering divergence can be improved effectively ; On the basis of centralized filter structure and federal filter structure, this paper designed a kinds of hybrid composite filter structure about multi-sensor system based on adaptive cubature kalman filter algorithm , and gave the method that fused the local filtering information of each sensor’s to get the global filtering information; In the application background of positioning and navigation for vehicle to make simulation tests, and the results show the effectiveness of the proposed method.
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Volume Title
Proceedings of the 2016 4th International Conference on Machinery, Materials and Computing Technology
Series
Advances in Engineering Research
Publication Date
March 2016
ISBN
978-94-6252-165-0
ISSN
2352-5401
DOI
https://doi.org/10.2991/icmmct-16.2016.162How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Xiuguo Zhang
PY  - 2016/03
DA  - 2016/03
TI  - Research Multi-Sensor Data Fusion Algorithm based on the adaptive cubature kalman filter
BT  - Proceedings of the 2016 4th International Conference on Machinery, Materials and Computing Technology
PB  - Atlantis Press
SP  - 831
EP  - 834
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmct-16.2016.162
DO  - https://doi.org/10.2991/icmmct-16.2016.162
ID  - Zhang2016/03
ER  -