Multiple Sensor Fusion using Adaptive Divided Difference Information Filter

Aritro Dey, Smita Sadhu, Tapan Kumar Ghoshal

Abstract

This paper addresses the problem of multiple sensor fusion in situations where the system dynamics suffers from unknown parameter variation. An adaptive nonlinear information filter has been proposed for such multi sensor estimation problems where the process noise covariance becomes unknown as a consequence of unknown parameter variation. The proposed filter, based on the Divided Difference interpolation formula, ensures satisfactory estimation performance by online adaptation of the unknown process noise covariance and makes sensor fusion successful. Efficacy of the proposed filter is demonstrated with the help of a tracking problem in a sensor fusion configuration. Results from Monte Carlo simulation indicate that though the process noise covariance is unknown, the performance of the proposed filter is demonstrably superior to its non adaptive version in the context of joint estimation of parameter and states.

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Paper Citation


in Harvard Style

Dey A., Sadhu S. and Ghoshal T. (2015). Multiple Sensor Fusion using Adaptive Divided Difference Information Filter . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 398-406. DOI: 10.5220/0005537303980406


in Bibtex Style

@conference{icinco15,
author={Aritro Dey and Smita Sadhu and Tapan Kumar Ghoshal},
title={Multiple Sensor Fusion using Adaptive Divided Difference Information Filter},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={398-406},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005537303980406},
isbn={978-989-758-122-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Multiple Sensor Fusion using Adaptive Divided Difference Information Filter
SN - 978-989-758-122-9
AU - Dey A.
AU - Sadhu S.
AU - Ghoshal T.
PY - 2015
SP - 398
EP - 406
DO - 10.5220/0005537303980406