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Constraints propagation techniques on intervals for a guaranteed localization using redundant data. (English) Zbl 1117.93367
Summary: In order to estimate continuously the dynamic location of a car, dead reckoning and absolute sensors are usually merged. The models used for this fusion are non-linear and, therefore, classical tools (such as Bayesian estimation) cannot provide a guaranteed estimation. In some applications, integrity is essential and the ability to guaranty the result is a crucial point. There are bounded-error approaches that are insensitive to non-linearity. In this context, the random errors are only modeled by their maximum bounds. This paper presents a new technique to merge the data of redundant sensors with a guaranteed result based on constraints propagation techniques on real intervals. We have thus developed an approach for the fusion of the two ABS wheel encoders of the rear wheels of a car, a fiber optic gyro and a differential GPS receiver in order to estimate the absolute location of a car. Experimental results show that the precision that one can obtain is acceptable, with a guaranteed result, in comparison with an extended Kalman filter. Moreover, constraints propagation techniques are well adapted to a real-time context.

93E03 Stochastic systems in control theory (general)
93E11 Filtering in stochastic control theory
93C95 Application models in control theory
93E25 Computational methods in stochastic control (MSC2010)
Full Text: DOI
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